Development of an Omnidirectional Cooperative Transportation System Using Two Mobile Robots with Two Independently Driven Wheels

Masanari Morishita, Shoichi Maeyama, Yasuyuki Nogami, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In recent years, with the increase in physical distribution volume, unmanned transportation robots are expected as an alternative means of transporting baggage in factories and warehouses. The development of a control system for cooperative transportation by multiple robots is important when the objects to be transported are long and exceed the size and the weight limit. From this, we develop a control system for cooperative transportation using two robots independently driven by two wheels. In this paper, a communication system between two mobile robots and a host PC is constructed by using ROS, and a sub-goal is generated to each robot to realize a cooperative running with two robots. The effectiveness of the proposed method is verified through an experiment that the controlled point of an object is subject to a movement along the square of 1 m.

Original languageEnglish
Title of host publicationProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1711-1715
Number of pages5
ISBN (Electronic)9781538666500
DOIs
Publication statusPublished - Jan 16 2019
Event2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 - Miyazaki, Japan
Duration: Oct 7 2018Oct 10 2018

Publication series

NameProceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018

Conference

Conference2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018
CountryJapan
CityMiyazaki
Period10/7/1810/10/18

Keywords

  • cooperative transportation
  • mobile robot
  • ROS

ASJC Scopus subject areas

  • Information Systems
  • Information Systems and Management
  • Health Informatics
  • Artificial Intelligence
  • Computer Networks and Communications
  • Human-Computer Interaction

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  • Cite this

    Morishita, M., Maeyama, S., Nogami, Y., & Watanabe, K. (2019). Development of an Omnidirectional Cooperative Transportation System Using Two Mobile Robots with Two Independently Driven Wheels. In Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018 (pp. 1711-1715). [8616292] (Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SMC.2018.00296