A Car Transportation System Using Multiple Coordinated Robots: iCART : 3rd Report, Trajectory Generation for Robots(Mechanical Systems)
Mitsuru ENDO, Kenji Hirose, Kazuhiro Kosuge, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura, Masaki NAKANISHI, Takashi Kanbayashi · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2010
We propose a car transportation system termed 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.