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Parameters of Motion for Multi-UGV Control System Performing Joint Transportation

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Interactive Collaborative Robotics (ICR 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11659))

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Abstract

The paper considers an algorithm for calculating the motion parameters for a group of mobile robots performing a joint transport task. The motion of this group of mobile robots is considered on a plane surface. Trajectory of motion passes over different zones with various soil properties. Rectilinear motion and motion along the arc of known radius are considered. The algorithm was successfully tested in previously developed special software for debugging and modelling.

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Acknowledgements

This work is partially supported by RFBR grant № 16-29-04199 and partially supported by the RAS Presidium program “Actual problems of robotic systems”.

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Authors and Affiliations

  1. Laboratory of Robotics and Mechatronics, Ishlinsky Institute for Problems in Mechanics RAS, Prospect Vernadskogo 101-1, 119526, Moscow, Russia

    Valery Gradetsky, Ivan Ermolov, Maxim Knyazkov, Eugeny Semenov & Artem Sukhanov

  2. Moscow State Technological University STANKIN, Vadkovskiy per. 3a, 127055, Moscow, Russia

    Boris Lapin & Sergey Sobolnikov

Authors
  1. Valery Gradetsky
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  2. Ivan Ermolov
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  3. Maxim Knyazkov
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  4. Eugeny Semenov
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  5. Boris Lapin
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  6. Sergey Sobolnikov
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  7. Artem Sukhanov
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Corresponding author

Correspondence to Artem Sukhanov .

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Editors and Affiliations

  1. Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Technical University of Munich, Munich, Germany

    Gerhard Rigoll

  3. Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Gradetsky, V. et al. (2019). Parameters of Motion for Multi-UGV Control System Performing Joint Transportation. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2019. Lecture Notes in Computer Science(), vol 11659. Springer, Cham. https://doi.org/10.1007/978-3-030-26118-4_29

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  • DOI: https://doi.org/10.1007/978-3-030-26118-4_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-26117-7

  • Online ISBN: 978-3-030-26118-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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