Traction control of load by distributed force of two mobile robots

This paper discusses the cooperative traction work on a load by two mobile robots. The reference trajectory of the load is given as a function of time, and the robots pull the load such that the load tracks the given reference trajectory. To achieve this, the virtual traction force vector generated by the PID controller is divided between the two mobile robots. Two force division methods of the virtual traction force vector are proposed, and their effectivenesses are examined through the simulation experiments.