Total for the last 12 months
number of access : ?
number of downloads : ?
ID 118658
Author
Sejati, Purnomo Tokushima University
Kuwahara, Akinobu Tokushima University
Keywords
multiple mobile robots
object conveyance
team member determination
Content Type
Journal Article
Description
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.
Journal Title
International Journal of Advanced Computer Science and Applications
ISSN
21565570
2158107X
Publisher
The Science and Information Organization
Volume
7
Issue
5
Start Page
553
End Page
559
Published Date
2016-05
Rights
This is an open access article licensed under a Creative Commons Attribution 4.0 International License (https://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.
EDB ID
DOI (Published Version)
URL ( Publisher's Version )
FullText File
language
eng
TextVersion
Publisher
departments
Science and Technology
Technical Support Department