Collision Avoidance Algorithm for Two Tracked Mobile Robots Transporting a Single Object in Coordination Based on Function Allocation Concept

  • Hiroki Takeda
  • Yasuhisa Hirata
  • Zhi-Dong Wang
  • Kazuhiro Kosuge


In this paper, we propose a collision avoidance algorithm for two tracked mobile robots transporting a single object based on a function-allocation concept. In this algorithm, the desired trajectory of the object is given to the leader robot, and the follower robot estimates the desired trajectory of the leader along the heading direction of the follower and generates the motion of the object for avoiding obstacles. We experimentally implement the proposed algorithm in the nonholo-nomic tracked mobile robots, and illustrate the validity of the proposed control algorithm.


Mobile Robot Control Algorithm Single Object Collision Avoidance Nonholonomic Constraint 
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Copyright information

© Springer-Verlag Tokyo 2002

Authors and Affiliations

  • Hiroki Takeda
    • 1
  • Yasuhisa Hirata
    • 1
  • Zhi-Dong Wang
    • 1
  • Kazuhiro Kosuge
    • 1
  1. 1.Department of Machine Intelligence and Systems EngineeringTohoku UniversitySendaiJapan

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