1P1-D02 A Car Transportation System Using Multiple Mobile Robots : iCART II : 6th Report : Computation of Positional and Orientational Relationship between Robots(Car Robotics)
Koshi Kashiwazaki, Kazuhiro Kosuge, Yusuke Sugahara, Yasuhisa Hirata, Takashi Kanbayashi, Koki Suzuki, Kazunori Murakami, Kenichi Nakamura · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2012
This paper proposes a computation method of the positional and orientational relationship between the robots employed in iCART II to enable the robots to transport a car whose size is unknown. First, the design of a 'Laser Range Finder (LRF)' and a target plate that are attached to the robot is considered. Secondly, we describe the measurement method with LRF, the detection method of other robots' target plates with a clustering method, and the computation method of the positional and orientational relationship between the robot and the plates by using the least-squares method. Finally, to confirm the effectiveness of the proposed method, we made the four robots lift a car and conducted the measurement experiment.