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

Paper:

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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

Received:
February 19, 2018
Accepted:
October 31, 2018
Published:
December 20, 2018
Creative Commons License
Keywords:
rescue robot, swarm robot, trajectory tracking control, ROS, rough terrain environment
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.

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

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

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 Apr. 19, 2024