Collaborative Handling of Two-Wheeled Deformable Robots

This paper presents techniques and methodologies for collaborative handling of two-wheeled deformable robots (TWDRs) by using image processing. These techniques include task planning, path planning using A* algorithm, QR-code localization and alignment, and cooperative formation. The task planning is proposed to study how to cooperatively move a heavy object step by step. The QR code is deployed for the robot to find and estimate the relative distance, and then localize the robots themselves and objects to be handled. The A* algorithm and path smooth method are adopted to plan the shortest path so as to finish desired handling tasks. A master-slave collaborative controller is presented to achieve collaborative handling. Experimental results are provide for illustration of the effectiveness and merits of the proposed method.