Cooperative Conveyance Speed and Tracking Control using Multiple Mobile Robot System

Abstract

In this paper, we describe the cooperative conveyance speed and tracking control using multiple mobile robot system. In our previous research, we proposed the cooperative pattern generation system using complex-valued neural network for the cooperative conveyance problem. Then, we confirmed the validity of the system based on a conveyance error. Therefore, in this paper, we propose the cooperative conveyance speed control method. We assigned the desired conveyance time to sub-goals, and cooperative conveyance was performed based on the desired conveyance time. We confirmed the validity of the cooperative conveyance speed control method from experimental results using two mobile robots.