Mobile robot teamwork for cooperated task

Wataru Iida, Kouhei Ohnishi

研究成果: Paper査読

6 被引用数 (Scopus)


When plural robots exist in the same workspace, first we have to decide robots in order to accomplish some tasks. There have been a lot of works that report how to control robots in cooperation, but there have been few works that report how to decide robots to be used. In this paper, a method for deciding a team of mobile robots is described. The aim of the team is to carry load in minimum working time. Working time is depend on some elements - distance between robot and load, torque a robot can output, maximum velocity and acceleration of robot, condition of robot, and so on. Each element as described above is named "ability" in this paper. For deciding a team, that is combination of robots, ability gaps in mobile robots are considered. Taking account of the ability gaps, a method for calculation of working time is described. To curtail the time of calculation and obtain a combination efficiently, genetic algorithm is introduced. Simulation and experiment result is shown to confirm the effectiveness of the method described in this paper.

出版ステータスPublished - 2002 12月 1
イベントProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society - Sevilla, Spain
継続期間: 2002 11月 52002 11月 8


OtherProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学


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