TY - GEN
T1 - An Omnidirectional Cooperative Transportation of a Large Object by Differential Drive Wheeled Mobile Robots with the Active-caster Control
AU - Miyashita, Kenji
AU - Wada, Masayoshi
N1 - Funding Information:
This research was partly supported by KAKENHI, 20H04562.
Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - In this paper, we present a coordinated omnidirectional transporting system of a large object by multiple mobile robots. Conventional differential drive wheeled mobile robots are used for the system, but the connection point with the transported object is installed at a position separated from the midpoint of the two drive wheels in the traveling direction. The mobile robot is driven to control the movement of that point. The control method for the differential drive wheeled mobile robot is a kind of active caster control. From this, it is possible to perform independent running of the mobile robot, docking with the transport object, and omnidirectional motion control of the transport object by multiple mobile robots. In this paper, to verify the effectiveness of the proposed system, we present some simulation studies together with the system design and mechanical design of a prototype of mobile robot prototype.
AB - In this paper, we present a coordinated omnidirectional transporting system of a large object by multiple mobile robots. Conventional differential drive wheeled mobile robots are used for the system, but the connection point with the transported object is installed at a position separated from the midpoint of the two drive wheels in the traveling direction. The mobile robot is driven to control the movement of that point. The control method for the differential drive wheeled mobile robot is a kind of active caster control. From this, it is possible to perform independent running of the mobile robot, docking with the transport object, and omnidirectional motion control of the transport object by multiple mobile robots. In this paper, to verify the effectiveness of the proposed system, we present some simulation studies together with the system design and mechanical design of a prototype of mobile robot prototype.
UR - http://www.scopus.com/inward/record.url?scp=85126222506&partnerID=8YFLogxK
U2 - 10.1109/SII52469.2022.9708808
DO - 10.1109/SII52469.2022.9708808
M3 - Conference contribution
AN - SCOPUS:85126222506
T3 - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
SP - 932
EP - 937
BT - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 IEEE/SICE International Symposium on System Integration, SII 2022
Y2 - 9 January 2022 through 12 January 2022
ER -