Referenced Items are not available for this document.
Traditionally, tasks for a robotic system are specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such tasks, passive velocity field control (PVFC) has been proposed and the geometry of the controlled systems was analyzed. In this paper, a method to apply a decentralized PVFC to a cooperative multiple mobile robotic system whose sub-system is under nonholonomic constraints, which conveys a common rigid object in a horizontal plain, is proposed, and the effectiveness of the control method is demonstrated by experiments
Published in:
Systems, Man, and Cybernetics, 1999. IEEE SMC '99 Conference Proceedings. 1999 IEEE International Conference on
(Volume:5
)
Date of Conference: 1999
- Page(s):
- 45 - 50 vol.5
- Meeting Date :
- 12 Oct 1999-15 Oct 1999
- ISSN :
- 1062-922X
- Print ISBN:
- 0-7803-5731-0
- INSPEC Accession Number:
- 6521307
- Conference Location :
- Tokyo
- Digital Object Identifier :
- 10.1109/ICSMC.1999.815518
- Product Type:
- Conference Publications
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