Collaborative Transportation Using Multi-WMRs via Networked Predictive Control

Abstract

This paper considers the predictive collaborative transportation problem of a target object by using a group of wheeled mobile robots, where time-delays exist in the feedback channel of each WMR and in communication channels between WMRs. A predictive coordinated control scheme and its detail implementation process are proposed to compensate these time-delays actively. Stability analysis and simulation results are provided to demonstrate the feasibility and effectiveness of the proposed predictive coordinated control scheme.