%0 Journal Article
%T Cooperative transport strategy for multiple mobile robots in the environment with undulating terrain<br>起伏地形环境中多移动机器人协作运输策略
%A YANG Fan
%A LIU Shi-rong
%A ZHONG Chao-liang
%A DONG De-guo
%A <br>杨帆
%A 刘士荣
%A 仲朝亮
%A 董德国
%J 控制理论与应用
%D 2012
%I 
%X The cooperative transport strategy for multiple mobile robots in the environment with undulating terrain is proposed, considering the slipping problem of the box and robots in the transportation. The multi-robot cooperative box pushing problem, in which robots are in watcher-pusher mode, is transformed into the multi-robot formation problem. Geometric-based virtual target sequence tracking is introduced to achieve the rearrangement of the transport formation when the object strayed from its current path. The navigation strategy in the cooperative transport strategy, which is called the navigate plain first to destination (NPFD) is employed by the watcher to guide the formation. The box pushing simulation is performed; the result illustrates the feasibility of the proposed transport strategy in the environment with undulating terrain.
%K multiple mobile robot
%K cooperative transport
%K undulating terrain
%K virtual target sequence tracking
%K watcherpusher<br>多移动机器人
%K 协作运输
%K 起伏地形
%K 虚拟目标序列跟踪
%K 观测者—跟随者
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=8A6EC9640C158E7B0B8ED94296A27D86&yid=99E9153A83D4CB11&vid=771469D9D58C34FF&iid=DF92D298D3FF1E6E&sid=E002FF26604EFFAB&eid=9C230FD2B3A7F308&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0