Object Conveyance Algorithm for Multiple Mobile Robots based on Object Shape and Size
Journal Title: International Journal of Advanced Computer Science & Applications - Year 2016, Vol 7, Issue 5
Abstract
This paper describes a determination method of a number of a team for multiple mobile robot object conveyance. The number of robot on multiple mobile robot systems is the factor of complexity on robots formation and motion control. In our previous research, we verified the use of the complex-valued neural network for controlling multiple mobile robots in object conveyance problem. Though it is a significant issue to develop effective determination team member for multiple mobile robot object conveyance, few studies have been done on it. Therefore, we propose an algorithm for determining the number of the team member on multiple mobile robot object conveyance with grasping push. The team member is determined based on object weight to obtain appropriate formation. First, the object shape and size measurement is carried out by a surveyor robot that approaches and surrounds the object. During surrounding the object, the surveyor robot measures its distance to the object and records for estimating the object shape and size. Since the object shape and size are estimated, the surveyor robot makes initial push position on the estimated push point and calls additional robots for cooperative push. The algorithm is validated in several computer simulations with varying object shape and size. As a result, the proposed algorithm is promising for minimizing the number of the robot on multiple mobile robot object conveyance.
Authors and Affiliations
Purnomo Sejati, Hiroshi Suzuki, Takahiro Kitajima, Akinobu Kuwahara, Takashi Yasuno
Keywords
Related Articles
- EP ID EP107145
- DOI 10.14569/IJACSA.2016.070573
- Views 119
- Downloads 0
Emotional Changes Detection for Dementia People with Spectrograms from Physiological Signals
Due to aging society, there has recently been an increasing percentage of people with serious cognitive decline and dementia around the world. Such patients often lose their diversity of facial expressions and even their...
Data Citation Service for Wikipedia Articles
The citation of big scientific data is crucial not only for scientific activity but also for the scientific discovery and dissemination within scientist network. The main objective of this research is to develop a servic...
Validating Utility of TEIM: A Comparative Analysis
Concrete efforts to integrate Software Engineering and Human Computer Interaction exist in the form of models by many researchers. An unconventional model called TEIM (The Evolved Integrated Model) of Software Engineerin...
Study of Current Femto-Satellite Approches
The success of space technology evolves according to the technological progression in terms of density of CMOS integration (Complementary on - Silicon Metal) and MEMS (Micro-Electro-Mechanical System) [4]. The need of sp...
ASSA: Adaptive E-Learning Smart Students Assessment Model
Adaptive e-learning can be improved through measured e-assessments that can provide accurate feedback to instructors. E-assessments can not only provide the basis for evaluation of the different pedagogical methods used...