Mobile robot teamwork for cooperated task

Wataru Iida, Kouhei Ohnishi

Research output: Contribution to conferencePaper

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
Pages1561-1566
Number of pages6
DOIs
Publication statusPublished - 2002 Dec 1
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

Keywords

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Iida, W., & Ohnishi, K. (2002). Mobile robot teamwork for cooperated task. 1561-1566. Paper presented at Proceedings of the 2002 28th Annual Conference of the IEEE Industrial Electronics Society, Sevilla, Spain. https://doi.org/10.1109/IECON.2002.1185512