Kinematic manipulation of a large object using a leader–assistant mobile robot system
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초록
This study investigated the transportation of large objects using multiple mobile robots. The transport strategy entails three phases: first, the robots couple with the object; second, they move to the goal position; and finally, the robots decouple from the object. In a previous study, we investigated the coupling and decoupling configurations of the first and third phases. This study examined a kinematic control method for the second phase. We developed a leader–assistant system, where the leader guides the object to track a given path and the assistants are the remaining robots providing supporting forces to move the object. We first formulated a kinematic model based on the velocity constraints at the coupling points of the robots and objects for motion manipulation, and then presented a path-tracking control method. The control method comprises two parts: controlling the heading angle of the leader for tracking a given path and controlling the object’s position. The motions of the assistants are automatically determined using kinematic relationships. Simulation results revealed that the leader–assistant system scheme can successfully move an object along a planned path.
Abstract
This study investigated the transportation of large objects using multiple mobile robots. The transport strategy entails three phases: first, the robots couple with the object; second, they move to the goal position; and finally, the robots decouple from the object. In a previous study, we investigated the coupling and decoupling configurations of the first and third phases. This study examined a kinematic control method for the second phase. We developed a leader–assistant system, where the leader guides the object to track a given path and the assistants are the remaining robots providing supporting forces to move the object. We first formulated a kinematic model based on the velocity constraints at the coupling points of the robots and objects for motion manipulation, and then presented a path-tracking control method. The control method comprises two parts: controlling the heading angle of the leader for tracking a given path and controlling the object’s position. The motions of the assistants are automatically determined using kinematic relationships. Simulation results revealed that the leader–assistant system scheme can successfully move an object along a planned path.
참고문헌 (11)
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