Cooperative control of differential wheeled mobile robots for box pushing problem
We present a decentralized cooperative control algorithm for a box pushing problem using two ground robots. The main framework of the algorithm is composed of a sequence of three behaviors, Approach, Align, and Push. We define two rotational and one translational motion primitives to manipulate the...
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| creator | Sungwon Moon Dongjun Kwak Kim, H. J. |
| description | We present a decentralized cooperative control algorithm for a box pushing problem using two ground robots. The main framework of the algorithm is composed of a sequence of three behaviors, Approach, Align, and Push. We define two rotational and one translational motion primitives to manipulate the box. A point-tracking controller is derived for differential wheeled mobile robots to push the point on the box defined by the motion primitives. For cooperation, robots communicate their status variables and an efficient role assignment scheme is proposed. We present experimental results obtained using our multi-robot testbed. |
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We present experimental results obtained using our multi-robot testbed.</description><identifier>ISBN: 9781467322478</identifier><identifier>ISBN: 1467322474</identifier><identifier>EISBN: 8993215049</identifier><identifier>EISBN: 9788993215045</identifier><language>eng</language><publisher>IEEE</publisher><subject>Box pushing problem ; Collision avoidance ; Force ; Mobile robots ; Multi-robot cooperations ; Robot kinematics ; Role assignment ; Target tracking</subject><ispartof>2012 12th International Conference on Control, Automation and Systems, 2012, p.140-144</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6393420$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,780,784,789,790,2058,54920</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6393420$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Sungwon Moon</creatorcontrib><creatorcontrib>Dongjun Kwak</creatorcontrib><creatorcontrib>Kim, H. J.</creatorcontrib><title>Cooperative control of differential wheeled mobile robots for box pushing problem</title><title>2012 12th International Conference on Control, Automation and Systems</title><addtitle>ICCAS</addtitle><description>We present a decentralized cooperative control algorithm for a box pushing problem using two ground robots. The main framework of the algorithm is composed of a sequence of three behaviors, Approach, Align, and Push. We define two rotational and one translational motion primitives to manipulate the box. A point-tracking controller is derived for differential wheeled mobile robots to push the point on the box defined by the motion primitives. For cooperation, robots communicate their status variables and an efficient role assignment scheme is proposed. We present experimental results obtained using our multi-robot testbed.</description><subject>Box pushing problem</subject><subject>Collision avoidance</subject><subject>Force</subject><subject>Mobile robots</subject><subject>Multi-robot cooperations</subject><subject>Robot kinematics</subject><subject>Role assignment</subject><subject>Target tracking</subject><isbn>9781467322478</isbn><isbn>1467322474</isbn><isbn>8993215049</isbn><isbn>9788993215045</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2012</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotzMtKxDAUgOGIDKhjn8BNXqBwkjSXs5TiDQYGYfZD2p7MRNKmpPX29gq6-uFb_BfsxiEqKTQ0eMkqtE40xiopG-uuWLUsbwAgBBgH7pq9tjnPVPwaP4j3eVpLTjwHPsQQqNC0Rp_455ko0cDH3MVEvOQurwsPufAuf_H5fTnH6cTnX0803rJN8Gmh6r9bdnh8OLTP9W7_9NLe7-qIsNYGOtSDtMIEIbQfhOzA9to6lL10npTrhVJONtgb0FaLYCySQHQqBBik2rK7v20kouNc4ujL99EoVI0E9QPq-EqC</recordid><startdate>201210</startdate><enddate>201210</enddate><creator>Sungwon Moon</creator><creator>Dongjun Kwak</creator><creator>Kim, H. J.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201210</creationdate><title>Cooperative control of differential wheeled mobile robots for box pushing problem</title><author>Sungwon Moon ; Dongjun Kwak ; Kim, H. J.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i90t-60b95d2716f115ad12b07c57892c28ae38c1338249c605751f679e19983ff0d23</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2012</creationdate><topic>Box pushing problem</topic><topic>Collision avoidance</topic><topic>Force</topic><topic>Mobile robots</topic><topic>Multi-robot cooperations</topic><topic>Robot kinematics</topic><topic>Role assignment</topic><topic>Target tracking</topic><toplevel>online_resources</toplevel><creatorcontrib>Sungwon Moon</creatorcontrib><creatorcontrib>Dongjun Kwak</creatorcontrib><creatorcontrib>Kim, H. J.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Sungwon Moon</au><au>Dongjun Kwak</au><au>Kim, H. J.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Cooperative control of differential wheeled mobile robots for box pushing problem</atitle><btitle>2012 12th International Conference on Control, Automation and Systems</btitle><stitle>ICCAS</stitle><date>2012-10</date><risdate>2012</risdate><spage>140</spage><epage>144</epage><pages>140-144</pages><isbn>9781467322478</isbn><isbn>1467322474</isbn><eisbn>8993215049</eisbn><eisbn>9788993215045</eisbn><abstract>We present a decentralized cooperative control algorithm for a box pushing problem using two ground robots. The main framework of the algorithm is composed of a sequence of three behaviors, Approach, Align, and Push. We define two rotational and one translational motion primitives to manipulate the box. A point-tracking controller is derived for differential wheeled mobile robots to push the point on the box defined by the motion primitives. For cooperation, robots communicate their status variables and an efficient role assignment scheme is proposed. We present experimental results obtained using our multi-robot testbed.</abstract><pub>IEEE</pub><tpages>5</tpages></addata></record> |
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| ispartof | 2012 12th International Conference on Control, Automation and Systems, 2012, p.140-144 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Box pushing problem Collision avoidance Force Mobile robots Multi-robot cooperations Robot kinematics Role assignment Target tracking |
| title | Cooperative control of differential wheeled mobile robots for box pushing problem |
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