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Parameters of Motion for Multi-UGV Control System Performing Joint Transportation

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Interactive Collaborative Robotics (ICR 2019)

Abstract

The paper considers an algorithm for calculating the motion parameters for a group of mobile robots performing a joint transport task. The motion of this group of mobile robots is considered on a plane surface. Trajectory of motion passes over different zones with various soil properties. Rectilinear motion and motion along the arc of known radius are considered. The algorithm was successfully tested in previously developed special software for debugging and modelling.

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Acknowledgements

This work is partially supported by RFBR grant № 16-29-04199 and partially supported by the RAS Presidium program “Actual problems of robotic systems”.

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Correspondence to Artem Sukhanov .

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Gradetsky, V. et al. (2019). Parameters of Motion for Multi-UGV Control System Performing Joint Transportation. In: Ronzhin, A., Rigoll, G., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2019. Lecture Notes in Computer Science(), vol 11659. Springer, Cham. https://doi.org/10.1007/978-3-030-26118-4_29

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  • DOI: https://doi.org/10.1007/978-3-030-26118-4_29

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-26117-7

  • Online ISBN: 978-3-030-26118-4

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