Abstract
This paper describes a determination method of a number of a team for multiple mobile robot object conveyance. The number of robot on multiple mobile robot systems is the factor of complexity on robots formation and motion control. In our previous research, we verified the use of the complex-valued neural network for controlling multiple mobile robots in object conveyance problem. Though it is a significant issue to develop effective determination team member for multiple mobile robot object conveyance, few studies have been done on it. Therefore, we propose an algorithm for determining the number of the team member on multiple mobile robot object conveyance with grasping push. The team member is determined based on object weight to obtain appropriate formation. First, the object shape and size measurement is carried out by a surveyor robot that approaches and surrounds the object. During surrounding the object, the surveyor robot measures its distance to the object and records for estimating the object shape and size. Since the object shape and size are estimated, the surveyor robot makes initial push position on the estimated push point and calls additional robots for cooperative push. The algorithm is validated in several computer simulations with varying object shape and size. As a result, the proposed algorithm is promising for minimizing the number of the robot on multiple mobile robot object conveyance.
Highlights
In the mobile robotic research area, multiple mobile robot systems have grown significantly in size and importance in Recent years
Object conveyance is a well-studied topic in multiple mobile robot systems where robots should work Together to transport a box to a destination
The dynamic team is an approach for defining robot number in a multiple mobile robot system where the mobile robots are a temporary and fluid team whose association properties are allowed to vary over time [3] [4] [5]
Summary
In the mobile robotic research area, multiple mobile robot systems have grown significantly in size and importance in Recent years. Object conveyance is a well-studied topic in multiple mobile robot systems where robots should work Together to transport a box to a destination. In this task, the robots are required to achieve the major goal of delivering an object to a goal point as well as the maintenance of minor requirement including approaching the object with a formation, maintaining contact with the object and maintaining forward motion. Teams dynamically and automatically grow and shrink, and the member may be substituted It enables multiple mobile robot systems becomes more efficient in the use of the robot. Determination of robot number before the push the object is the concern of this study.
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