Name
Title | ||
|---|---|---|
An Application Of Passive Velocity Field Control To Cooperative Multiple 3-Wheeled Mobile Robots |
Abstract | ||
|---|---|---|
Traditionally, tasks for a robotic system ape specified by a desired timed trajectory. There, however, are many tasks in which the desired motions are specified by the state of system rather than time, such as contour following tasks. For such, tasks, Passive Velocity Field Control(PVFC) has been proposed and the geometry of the controlled systems was analyzed. fn this paper, a method to apply the PVFC to cooperative multiple mobile robotic systems whose sub- system is under non-holonomic constraints and which convey a common rigid object in a horizontal plain is proposed, and the effectiveness of the control method is demonstrated by several numerical simulations. |
Year | DOI | Venue |
|---|---|---|
1998 | 10.1109/IROS.1998.724647 | 1998 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS - PROCEEDINGS, VOLS 1-3: INNOVATIONS IN THEORY, PRACTICE AND APPLICATIONS |
Keywords | Field | DocType |
painting,robot kinematics,numerical simulation,control systems,computational geometry,mobile robots,motion control | Robotic systems,Motion control,Computer science,Control theory,Vector field,Control engineering,Nonholonomic system,Mobile robot,Trajectory,Horizontal plane | Conference |
Citations | PageRank | References |
5 | 1.44 | 2 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Masaki Yamakita | 1 | 266 | 57.24 |
| Terukazu Yazawa | 2 | 5 | 1.44 |
| Xin-Zhi Zheng | 3 | 54 | 10.03 |
| Koji Ito | 4 | 24 | 7.23 |