Control of A Cooperative Transportation System with Two Car-Like Mobile Robots
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- Yamaguchi Hiroaki
- Department of Integrated Information Technology, Aoyama Gakuin University
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- Oshida Yuhsuke
- Department of Integrated Information Technology, Aoyama Gakuin University
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- Kawakami Atsushi
- Department of Integrated Information Technology, Aoyama Gakuin University
Bibliographic Information
- Other Title
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- ２台の車両型移動ロボットから構成される協調搬送システムの制御
- A Path Planning Method Using Parametric Curves
- パラメトリック曲線による経路計画
Description
We present a path planning method using parametric curves for a cooperative transportation system with two car-like mobile robots. We have particularly developed a fast numerical algorithm to compute the position and orientation of a carrier of the cooperative transportation system in a coordinate system where a curved path, that is, a parametric curve is an axis and a straight line perpendicular to the tangent of the path is another axis. Also, we have verified the validity of the path planning method experimentally.
Journal
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- Proceedings of the Japan Joint Automatic Control Conference
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Proceedings of the Japan Joint Automatic Control Conference 50 (0), 64-64, 2007
The Japan Joint Automatic Control Conference
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Keywords
Details 詳細情報について
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- CRID
- 1390001205647111552
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- NII Article ID
- 130004600397
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- Text Lang
- ja
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- Data Source
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- JaLC
- CiNii Articles
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- Abstract License Flag
- Disallowed
