Position Control of Load by Traction of Two Mobile Robots

  • Hiroshi Hashimoto
  • Shinya Nakagawa
  • Naoki Amano
  • Chiharu Ishii
Conference paper


This paper discusses the cooperative traction work on a load by two mobile robots. The reference trajectory of the load is given as a function of time, and the robots pull the load such that the load tracks the given reference trajectory. To achieve this, the virtual traction force vector generated by the PID controller is divided between the two mobile robots. Two force division methods of the virtual traction force vector are proposed, and their effectivenesses are examined through the simulation experiments.


Mobile Robot Advance Direction Traction Force Reference Trajectory Relative Angle 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    C. Kanamori, M. Kajitani, A. Ming and V. Masek (1995.6) Obstacle Avoidance of the transporting system using two mobile robots, Proceedings of the ’95 The Japan Society of Mechanical Engineers Robotics Mechatronics Conference, pp.804–807.Google Scholar
  2. 2.
    M. Nakamura, T. Maeda and N. Kyura (1997) A Method of Contour Control for Mechatronic Servo System by use of Error Feedback Synchronous Position Control, IEEJ, Vol.117-D, No.5, pp.544–551.Google Scholar
  3. 3.
    T. Egami and K. Yoda (1998) Optimal Synchronous Path Control of Mechatronic Servo System, The Society of Instrument and Control Engineers, Vol.34, No.9, pp.1178–1183.Google Scholar
  4. 4.
    H. Asama, K. Ozaki, A. Matsumoto, Y. Ishida and I. Endo (1992) A Method of Cooperative Task Assignment by Multiple Autonomous Robots Based on Decentralized Management, The Robotics Society of Japan, Vol.10, No.7, pp.955–963.CrossRefGoogle Scholar
  5. 5.
    D.J. Stilwell and J.S. Bay (1993) Toward the Development of a Material Transport System using Swarms of Ant-like Robots, Proc. IEEE Int. Conf. Robotics and Automation, Vol.1, pp.766–771.Google Scholar
  6. 6.
    D.J. Stilwell and J.S. Bay (1994) Optimal Control for Cooperating Mobile Robots Bearing a Common Load, Proc. IEEE Int. Conf. Robotics and Automation, Vol.2, pp.58–63.Google Scholar
  7. 7.
    H. Hashimoto, F. Oba and T. Eguchi (1995) Dynamic Object-Tranportation Control Method by Multiple Mobile Robots, J. of the Robotics Soc. of Japan, Vol.13, No.6, pp.152–159.Google Scholar

Copyright information

© Springer-Verlag Tokyo 2002

Authors and Affiliations

  • Hiroshi Hashimoto
    • 1
  • Shinya Nakagawa
    • 1
  • Naoki Amano
    • 1
  • Chiharu Ishii
    • 2
  1. 1.Tokyo University of TechnologyHachioji, TokyoJapan
  2. 2.Ashikaga Institute of TechnologyAshikaga TochigiJapan

Personalised recommendations