1-304 A Cooperative Transportation Control with Neural Networks for Multiple Mobile Robots

概要

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In this paper, we propose a method using neural network (NN) to improve the motion control of a decentralized control system for cooperative transportation. In our former work, a decentralized control system for transporting a single object by multiple nonholonomic mobile robots has been developed. One of these mobile robots acts as a leader, who is assumed to be able to plan and to manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping a constant position relative to the object. It is assumed that the leader can not only plan but also broadcast the local velocity of the object. Then, each follower receives such information and generates its own velocity in the local coordinate. This paper explains how to use NN to map the leader's command into the motion command of the follower. Simulation results demonstrate the effectiveness of the proposed method.
一般社団法人日本機械学会の論文
2002-11-14