JRM Vol.30 No.6 pp. 980-990
doi: 10.20965/jrm.2018.p0980


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

February 19, 2018
October 31, 2018
December 20, 2018
rescue robot, swarm robot, trajectory tracking control, ROS, rough terrain environment
Group Control of Mobile Robots for More Efficient Searches – Verification of Semi-Autonomous Trajectory Tracking Motions in Irregular Ground Environment –

Schematic view of the ROS trajectory tracking control using two mobile exploration robots

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.

Cite this article as:
Y. Ohtsubo and M. Matsuyama, “Group Control of Mobile Robots for More Efficient Searches – Verification of Semi-Autonomous Trajectory Tracking Motions in Irregular Ground Environment –,” J. Robot. Mechatron., Vol.30, No.6, pp. 980-990, 2018.
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Last updated on Jan. 19, 2019