Distributed object transportation on a desired path based on Constrain and Move strategy

Abstract In this paper, a distributed strategy to move objects on different arbitrary paths in a 2D plane is proposed and analyzed. This algorithm which is based on Constrain and Move strategy [M.N. Ahmadabadi, E. Nakano, A Constrain and Move approach to distributed object manipulation, IEEE Trans. Robotics Automation 17 (2) (2001) 157], organizes the robots in two groups. The object manipulation task also is decomposed to two different tasks. The task given to one group is control of linear velocity and that assigned to the other group is control of angular velocity of the object. The independence of these tasks makes the design of the distributed architecture of the team possible. To calculate each robot's desired velocity, a simple method using Constrain and Move strategy and robot's local sensors is developed. To prevent small errors in the robot sensory system from affecting the system performance, limited compliance is assumed in robot arms. The basic behaviors of the robots are presented. Moreover, simulation results are given to verify the proposed strategy.

[1]  Bruce Randall Donald,et al.  Moving furniture with teams of autonomous robots , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[2]  Jun Ota,et al.  Motion planning for cooperative transportation of a large object by multiple mobile robots in a 3D environment , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[3]  Liqiang Feng,et al.  Gyrodometry: a new method for combining data from gyros and odometry in mobile robots , 1996, Proceedings of IEEE International Conference on Robotics and Automation.

[4]  Eiji Nakano,et al.  A New Approach to Multiple Robots' Behavior Design for Cooperative Object Manipulation , 1996, DARS.

[5]  Majid Nili Ahmadabadi,et al.  Compliance: encoded information and behavior in a team of cooperative object-handling robots , 2003, Adv. Robotics.

[6]  John S. Bay,et al.  Toward the development of a material transport system using swarms of ant-like robots , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[7]  Tsuneo Yoshikawa,et al.  Dynamics and Stability in Coordination of Multiple Robotic Mechanisms , 1989, Int. J. Robotics Res..

[8]  Kazuhiro Kosuge,et al.  Motion control of multiple autonomous mobile robots handling a large object in coordination , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[9]  Kazuhiro Kosuge,et al.  Control multiple mobile robots for object caging and manipulation , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[10]  Robert J. Wood,et al.  Towards a 3g crawling robot through the integration of microrobot technologies , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[11]  Eduardo Todt,et al.  Analysis and classification of multiple robot coordination methods , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[12]  Majid Nili Ahmadabadi,et al.  A "constrain and move" approach to distributed object manipulation , 2001, IEEE Trans. Robotics Autom..

[13]  Kazuhiro Kosuge,et al.  Decentralized control of multiple mobile robots transporting a single object in coordination without using force/torque sensors , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[14]  Tsuneo Yoshikawa,et al.  Passive and active closures by constraining mechanisms , 1996, Proceedings of IEEE International Conference on Robotics and Automation.