Abstract
We have proposed a decentralized control method based on passive velocity field control (PVFC) in previous works (1997, 1998). However, the feedback was localized and the desired velocity field was given by a central controller. The geometry cooperative multiple mobile robot system whose subsystem is under nonholonomic constraints and which conveys a common rigid object in a horizontal plain was proposed. In this paper, we propose a method to generate the desired velocity field for cooperative mobile robots with decentralized PVFC. The proposed control method for cooperative mobile robots is constructed by extending the PVFC and ensures the stability and boundedness using projection algorithm. Finally, the efficiency of the proposed method is examined by computer simulations for cooperative tasks with two manipulators.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
