Mobile robot teamwork for cooperated task

Wataru Iida, Kouhei Ohnishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Citations (Scopus)

Abstract

When plural robots exist in the same workspace, first we have to decide robots in order to accomplish some tasks. There have been a lot of works that report how to control robots in cooperation, but there have been few works that report how to decide robots to be used. In this paper, a method for deciding a team of mobile robots is described. The aim of the team is to carry load in minimum working time. Working time is depend on some elements - distance between robot and load, torque a robot can output, maximum velocity and acceleration of robot, condition of robot, and so on. Each element as described above is named "ability" in this paper. For deciding a team, that is combination of robots, ability gaps in mobile robots are considered. Taking account of the ability gaps, a method for calculation of working time is described. To curtail the time of calculation and obtain a combination efficiently, genetic algorithm is introduced. Simulation and experiment result is shown to confirm the effectiveness of the method described in this paper.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages1561-1566
Number of pages6
Volume2
DOIs
Publication statusPublished - 2002
EventProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society - Sevilla, Spain
Duration: 2002 Nov 52002 Nov 8

Other

OtherProceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society
CountrySpain
CitySevilla
Period02/11/502/11/8

Fingerprint

Mobile robots
Robots
Loads (forces)
Torque
Genetic algorithms

Keywords

  • Ability gap
  • Autonomous distributed system
  • Cooperated task
  • Genetic algorithm
  • Mobile robot
  • Team

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Iida, W., & Ohnishi, K. (2002). Mobile robot teamwork for cooperated task. In IECON Proceedings (Industrial Electronics Conference) (Vol. 2, pp. 1561-1566) https://doi.org/10.1109/IECON.2002.1185512

Mobile robot teamwork for cooperated task. / Iida, Wataru; Ohnishi, Kouhei.

IECON Proceedings (Industrial Electronics Conference). Vol. 2 2002. p. 1561-1566.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Iida, W & Ohnishi, K 2002, Mobile robot teamwork for cooperated task. in IECON Proceedings (Industrial Electronics Conference). vol. 2, pp. 1561-1566, Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society, Sevilla, Spain, 02/11/5. https://doi.org/10.1109/IECON.2002.1185512
Iida W, Ohnishi K. Mobile robot teamwork for cooperated task. In IECON Proceedings (Industrial Electronics Conference). Vol. 2. 2002. p. 1561-1566 https://doi.org/10.1109/IECON.2002.1185512
Iida, Wataru ; Ohnishi, Kouhei. / Mobile robot teamwork for cooperated task. IECON Proceedings (Industrial Electronics Conference). Vol. 2 2002. pp. 1561-1566
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