Group Control of Mobile Robots for More Efficient Searches – Verification of Semi-Autonomous Trajectory Tracking Motions in Irregular Ground Environment –

Author:

Ohtsubo Yoshikazu,Matsuyama Morihito, ,

Abstract

After the occurrence of a disaster, it is critical to perform rapid and accurate searching operations in the large disaster area. It is efficient to perform such operations using multiple mobile exploration robots. Accordingly, we focus on cooperative cruising in a disaster environment and propose the trajectory tracking control method for a semi-autonomous search robot. We apply a robot operating system (ROS) to execute the trajectory tracking control using two mobile exploration robots. In this paper, we describe the trajectory tracking control using gravity potential method and the results of a cooperative cruising experiment in an uneven terrain environment.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Disaster Rescue via Multi-Robot Collaboration: Development, Control, and Deployment;Journal of Robotics and Mechatronics;2023-02-20

2. Development of Robot Simulating Fuel Debris Retrieval;Journal of Robotics and Mechatronics;2022-06-20

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