Cooperative Carrying Task Control based on Receding Horizon Control for Mobile Robots
نویسندگان
چکیده
A new control method for a cooperative carrying task control problem by two mobile robots is proposed. In the problem, a leading robot is assumed to be controlled by a human directory or remotely. On the other hand, a following robot must be run autonomously anytime without dropping a carrying object. The proposed method based on the receding horizon control (RHC) generates optimal left and right wheel motor torques of the following robot at each sampling time to hold constraint condition of relative position. Numerical examples are shown to demonstrate the effectiveness of the method. Keywords– Cooperative caring task, Tracking, Mobile robot, Receding horizon control, Relative position constraint
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