2台の車両型移動ロボットから構成される協調搬送システムのTwo-Chain, Single-Generator Chained Formへの変換とその操舵(機械力学,計測,自動制御)

概要

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This paper presents a novel methodology for steering a cooperative a transportation system with two car-like mobile robots coupled together by a carrier. The system is a three-input seven-state drift-free nonholonomic mechanical system. The three control inputs are the moving velocity of the first mobile robot and the steering angular velocities of the two mobile robots. The seven states are the positions of the first mobile robot along the x- and y-axes, its steering angle, its orientation, the orientation of the carrier, the steering angle of the second mobile robot, and its orientation. We first convert the system into two-chain, single-generator chained form, based on a differential geometrical approach. We secondly show a control method of the system by polynomial inputs developed in such chained form. The validity of this conversion and control method is verified by computer simulations performed on driving this cooperative transportation system into a garage.
一般社団法人日本機械学会の論文
2003-10-25