Cooperative control of multiple heterogeneous robots

Abstract

In this study, we aim to achieve an cooperative locomotion of multiple heterogeneous mobile robots. Autonomous rendezvous of an aerial robot and ground robot are proposed. For path planning of each robot, Voronoi Diagram is adopted to express the path and caluculation of edge cost in 2-D space is carried out. Volonoi Diagram is laminated to extend the path planning algorithm to 3-D space. Numerical simulation of rendezvous of two robot is conducted and the validity of proposed method is shown.