Load sharing algorithm for transporting an object by two mobile robots in coordination

摘要

Abstrucf- In this paper, we propose an object transporting system by two tracked mobile robots in an environment with a slope. In such environment an effect of an external force applied to the object should be considered. We first address dynamic cooperative control algorithm of the robot system without external force applied to the object. Next, we derivc! cooperative control algorithm of the system including the effect of the external force. Then we propose an algorithm of a load sharing among robots in an uneven environment. We apply the proposed algorithm to the experimental system of two tracked mobile robots and illustrate the validity of the proposed algorithm.