Abstract
In cooperative object transportation by mobile robots, complex motions of robots are required. Therefore omnidirectional mobile robots are suitable for the cooperative transportation. And they need high positioning accuracy. The same can be said of potential method for cooperative object transportation. But, most of existing omnidirectional wheels have complex mechanism, and are not practical. Generally, they have low self localization accuracy using internal sensors. Because it is hard to measure a movement of free rollers. On the other hand, an active-caster wheel feature simple mechanism and high positioning accuracy, and I enable the robots to improve self localization accuracy. In this paper, I propose the cooperative system using self localization with active-caster wheeled robots.
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