Abstract
Aconcept named "common reference object" is proposed for a cooperative transportation using multiple nonholonomic mobile robots and a decentralized system is constructed to demonstrate the present concept. In this system, one agent acts as the leader which is able to plan and manipulate the omnidirectional motion of an object. Other agents referred to as followers cooperatively transport the object by keeping a constant position relative to the object. During the transportation operation, the leader robot can not only plan the motion of the object but also broadcast the local velocity of the object to other agents. Then, each follower receives such information and generates its own velocity in the local coordinate using a mapping process. In this paper, neural network (NN) and genetic algorithm (GA) are tested in identifying the mapping process. Simulation results show an acceptable performance of the present concept.
| Original language | English |
|---|---|
| Pages (from-to) | 209-221 |
| Number of pages | 13 |
| Journal | International Journal of Knowledge-Based and Intelligent Engineering Systems |
| Volume | 9 |
| Issue number | 3 |
| Publication status | Published - 2005 |
| Externally published | Yes |
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ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Artificial Intelligence
Cite this
A concept of common reference object to the cooperative transportation of multiple mobile robots. / Yang, Xin; Watanabe, Keigo; Izumi, Kiyotaka.
In: International Journal of Knowledge-Based and Intelligent Engineering Systems, Vol. 9, No. 3, 2005, p. 209-221.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A concept of common reference object to the cooperative transportation of multiple mobile robots
AU - Yang, Xin
AU - Watanabe, Keigo
AU - Izumi, Kiyotaka
PY - 2005
Y1 - 2005
N2 - Aconcept named "common reference object" is proposed for a cooperative transportation using multiple nonholonomic mobile robots and a decentralized system is constructed to demonstrate the present concept. In this system, one agent acts as the leader which is able to plan and manipulate the omnidirectional motion of an object. Other agents referred to as followers cooperatively transport the object by keeping a constant position relative to the object. During the transportation operation, the leader robot can not only plan the motion of the object but also broadcast the local velocity of the object to other agents. Then, each follower receives such information and generates its own velocity in the local coordinate using a mapping process. In this paper, neural network (NN) and genetic algorithm (GA) are tested in identifying the mapping process. Simulation results show an acceptable performance of the present concept.
AB - Aconcept named "common reference object" is proposed for a cooperative transportation using multiple nonholonomic mobile robots and a decentralized system is constructed to demonstrate the present concept. In this system, one agent acts as the leader which is able to plan and manipulate the omnidirectional motion of an object. Other agents referred to as followers cooperatively transport the object by keeping a constant position relative to the object. During the transportation operation, the leader robot can not only plan the motion of the object but also broadcast the local velocity of the object to other agents. Then, each follower receives such information and generates its own velocity in the local coordinate using a mapping process. In this paper, neural network (NN) and genetic algorithm (GA) are tested in identifying the mapping process. Simulation results show an acceptable performance of the present concept.
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M3 - Article
AN - SCOPUS:85013599857
VL - 9
SP - 209
EP - 221
JO - International Journal of Knowledge-Based and Intelligent Engineering Systems
JF - International Journal of Knowledge-Based and Intelligent Engineering Systems
SN - 1327-2314
IS - 3
ER -