Coordinated Transportation of a Single Object by a Group of Nonholonomic Mobile Robots
In this paper, we propose a decentralized control system for transporting a single object by a group of nonholonomic mobile robots. One of these mobile robots acts as a leader, who is assumed to be able to plan and manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping the initial relative position to the object. Different from the conventional leader-follower type system of transporting a signal object by multiple robots in coordination, the present follower can plan an action based on its local coordinate and does not need any absolute positional information. The simulation result exhibits a good performance of the proposed system.
KeywordsMobile Robot Kinematic Model Multiple Robot Mobile Base Driving Wheel
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