Coordinated Transportation by Two Nonholonomic Mobile Robots based on Decentralized Control.

Abstract

In this paper, we propose a decentralized control alogorithm for transporting a single object by two nonholonomic mobile robots. We extend the leader-follower type control algorithm, which we proposed for the holonomic robots(10), to the nonholonomic mobile robots by introducing the dual caster action. The proposed control algorithm is experimentally applied to two nonholonomic mobile robots, and the experimental results illustrate the validity of the extended control algorithm.