Group Control of Mobile Robots for More Efficient Searches – Verification of Semi-Autonomous Trajectory Tracking Motions in Irregular Ground Environment –
Yoshikazu Ohtsubo* and Morihito Matsuyama**
*Faculty of Science and Engineering, Kindai University
3-4-1 Kowakae, Higashi-osaka, Osaka 577-8502, Japan
**Vstone Co., Ltd.
2-15-28 Mitejima, Nishiyodogawa-ku, Osaka 555-0012, Japan
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.
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