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- Publisher Website: 10.1007/978-3-642-00644-9_27
- Scopus: eid_2-s2.0-78751512334
- WOS: WOS:000274000200027
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Conference Paper: Trajectory generation for multiple robots of a car transportation system
Title | Trajectory generation for multiple robots of a car transportation system |
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Authors | |
Issue Date | 2009 |
Publisher | Springer. |
Citation | The 9th conference on Distributed Autonomous Robotic Systems, Tsukuba, Japan, 17-19 November 2008. In Distributed Autonomous Robotic Systems 8, p. 305-314. Berlin: Springer, 2009 How to Cite? |
Abstract | We propose a car transportation system referred to as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. Collision-free trajectories for approaching and transporting the car are generated based on the potential field in the configuration space. In this paper, we describe details of the way to construct a configuration space, to apply a potential to the configuration space, and to generate a trajectory. Additionally, for generating the collision-free trajectory on the environment where two robots exist, repulsive potentials are applied to each robot. Described methods are integrated to iCART and experimental results illustrate the validity of the proposed method. |
Persistent Identifier | http://hdl.handle.net/10722/302860 |
ISBN | |
ISI Accession Number ID |
DC Field | Value | Language |
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dc.contributor.author | Endo, Mitsuru | - |
dc.contributor.author | Hirose, Kenji | - |
dc.contributor.author | Sugahara, Yusuke | - |
dc.contributor.author | Hirata, Yasuhisa | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.contributor.author | Kanbayashi, Takashi | - |
dc.contributor.author | Oomoto, Mitsukazu | - |
dc.contributor.author | Suzuki, Koki | - |
dc.contributor.author | Murakami, Kazunori | - |
dc.contributor.author | Nakamura, Kenichi | - |
dc.date.accessioned | 2021-09-07T08:42:43Z | - |
dc.date.available | 2021-09-07T08:42:43Z | - |
dc.date.issued | 2009 | - |
dc.identifier.citation | The 9th conference on Distributed Autonomous Robotic Systems, Tsukuba, Japan, 17-19 November 2008. In Distributed Autonomous Robotic Systems 8, p. 305-314. Berlin: Springer, 2009 | - |
dc.identifier.isbn | 9783642006432 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302860 | - |
dc.description.abstract | We propose a car transportation system referred to as iCART (intelligent Cooperative Autonomous Robot Transporters). In this system, two robots approach the car autonomously, and lift up it for supporting its weight from right/left side respectively. Then, two robots transport the car in coordination. Collision-free trajectories for approaching and transporting the car are generated based on the potential field in the configuration space. In this paper, we describe details of the way to construct a configuration space, to apply a potential to the configuration space, and to generate a trajectory. Additionally, for generating the collision-free trajectory on the environment where two robots exist, repulsive potentials are applied to each robot. Described methods are integrated to iCART and experimental results illustrate the validity of the proposed method. | - |
dc.language | eng | - |
dc.publisher | Springer. | - |
dc.relation.ispartof | Distributed Autonomous Robotic Systems 8 | - |
dc.title | Trajectory generation for multiple robots of a car transportation system | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1007/978-3-642-00644-9_27 | - |
dc.identifier.scopus | eid_2-s2.0-78751512334 | - |
dc.identifier.spage | 305 | - |
dc.identifier.epage | 314 | - |
dc.identifier.isi | WOS:000274000200027 | - |
dc.publisher.place | Berlin | - |