This paper addresses a box transport problem that requires the cooperation of multiple mobile robots. A geometric-based distributed formation control strategy is proposed for robots to push the box to the target, whic...This paper addresses a box transport problem that requires the cooperation of multiple mobile robots. A geometric-based distributed formation control strategy is proposed for robots to push the box to the target, which might be static or dynamic. Velocity and hardware constraints are considered in the advanced planning of the trajectory. Information sharing is included because the robots used as box pushers cannot acquire the required environmental information from their local sensors. Simulation results show the effectiveness of the proposed distributed cooperation strategy.展开更多
基金Project supported by the National Natural Science Foundation of China (No. 60675043) the Science and Technology Project of Zhejiang Province of China (No. 2007C21051)
文摘This paper addresses a box transport problem that requires the cooperation of multiple mobile robots. A geometric-based distributed formation control strategy is proposed for robots to push the box to the target, which might be static or dynamic. Velocity and hardware constraints are considered in the advanced planning of the trajectory. Information sharing is included because the robots used as box pushers cannot acquire the required environmental information from their local sensors. Simulation results show the effectiveness of the proposed distributed cooperation strategy.
