NDLI: Mobile robot teamwork for cooperated task

Content Provider	IEEE Xplore Digital Library
Author	Iida, W. Ohnishi, K.
Copyright Year	2002
Description	Author affiliation: Fac. of Sci. & Technol., Keio Univ., Kanagawa, Japan (Iida, W.; Ohnishi, K.)
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.
Sponsorship	IEEE ice SICE Univ. Sevilla
Starting Page	1561
Ending Page	1566
File Size	328627
Page Count	6
File Format	PDF
ISBN	0780374746
DOI	10.1109/IECON.2002.1185512
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2002-11-05
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Teamwork Robot kinematics Wheels Robot control Design engineering Systems engineering and theory Genetic algorithms Torque Acceleration
Content Type	Text
Resource Type	Article

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