1A1-P18 協調搬送のための走行制御コマンドの実装(作業移動ロボット)

抄録

The objective of this research is to develop a locomotion control command for the cooperative transportation of a large object by multiple mobile robots. It is assumed that the operation of entire robots is planned to carry the object to a destination by a centralized system. Then, the locomotion of each robot is separately controlled according to such planned passage position and time. Furthermore, each robot is assumed to have the support point of the object with an offset to the wheel axis. The cooperative transportation can be realized by controlling the position of the support point appropriately. Under these conditions, the development of an efficient robot system is achieved by preparing common locomotion control commands for each robot. This paper proposes the locomotion control command, which ensures that the support point of the object arrives at the planned target positions at the specified time with the required speed. Then, the total performance using the proposed command is confirmed by computer simulations. Finally, the feasibility is also evaluated by experimental results.