Control of Load Distribution Based on Environmental Information for Formation Control of Multiple Mobile Robots

摘要

In this paper we focus on cooperative transportation by multiple mobile robots. During the transportation, each robot has a load that is influenced by a state of a carrying object and road surface. This paper proposes a method of deciding a grasping position of each robot to equalize the loads based on environmental information estimated by Reaction Torque Observer. Then it is expected that each robot is prevented from becoming overload and stable transportation is realized. Simulation and experimental results show the validity of the proposed method.