Transportation of a single object by multipledecentralized-controlled nonholonomic mobile robots

摘要

We propose a decentralized control algorithm for transporting asingle object by multiple nonholonomic mobile robots. We extend theleader-follower type control algorithm, proposed by Kosuge and Oosumi(1996) for holonomic robots, to nonholonomic mobile robots by attachinga passive sliding mechanism to each follower. The extended controlalgorithm is experimentally applied to three tracked mobile robots, andthe experimental results illustrate the validity of the extended controlalgorithm