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Transportation of a single object by two decentralized-controlled nonholonomic mobile robots

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5 Author(s)
Kosuge, K. ; Dept. of Machine Intelligence & Syst. Eng., Tohoku Univ., Sendai, Japan ; Oosumi, T. ; Satou, M. ; Chiba, K.
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We propose a decentralized control algorithm for transporting a single object by two nonholonomic mobile robots driven by two wheels. We extend the leader-follower type control algorithm, proposed by Kosuge and Oosumi (1996) for holonomic robots, to mobile robots by introducing the dual caster action. The extended control algorithm is applied to two experimental tracked mobile robots, and the experimental results illustrate the validity of the control algorithm

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998