1A1-G11 A Coordinated System of Multiple Robots for Transportation of a Car -iCART- : 2nd Report: Trajectory Generation for Approaching a Car

Abstract

We propose a new car trasnportation system called iCART(intelligent Cooperative Autonomous Robot Transporters). This system is composed with two robot systems. These two robots lift up a car from left side and right side respectively to transport it in coordination with an endeffector specilized for the transportaion of the car. To lift up the car, these two robots approach the side of the car, one is left side and another is right side. When robots approach the car, they need moving along a path generated from a current position to a desired position without collisions with each other or obstacles. In this paper, we explain the way of the trajectory generation for approaching the car. Experimental results also illustrate the validity of the way of trajectory generation we proposed in this system.