Cooperative Transfer Control by Using Mobile Robots with Passive Joint Mechanism (Level Control of Carrier Platform on Slope by Using Fuzzy Set Theory)
Cooperative Transfer Control by Using Mobile Robots with Passive Joint Mechanism (Level Control of Carrier Platform on Slope by Using Fuzzy Set Theory)
复制标题
被动关节机构移动机器人协同转移控制（利用模糊集理论进行斜坡承载平台水平控制）
DOI：
10.1299/kikaic.79.2062
复制
发表时间：
2013
期刊：
影响因子：
--
通讯作者：
T. Taniguchi
中科院分区：
文献类型：
--
作者：
M. Hamaguchi;T. Taniguchi
提出了一种基于三轮移动机器人的协同转移控制方法。一名WMR被指定为领导者，另外两名WMR被指定为追随者。载体平台由在WMR上具有被动关节的链节支撑。当重载车辆沿斜坡上的直线路径运行时，承重平台始终保持水平。载体平台的水平控制是通过WMRS的位置控制来实现的。利用模糊集理论控制从动件的位置，使载体平台保持水平，同时引导器沿目标路径运行。利用遗传算法设计了模糊集理论的隶属度函数。仿真和实验结果表明了该方法的有效性。
This paper proposes a cooperative transfer control method by using three wheeled mobile robots (WMRs). One WMR is designated as a leader, and the other two WMRs are followers. A carrier platform is supported by links with passive joints on the WMRs. The carrier platform is always kept levelly when WMRs run along a straight path on a slope. The level control of the carrier platform is achieved by a position control of WMRs. The positions of the followers are controlled by using a fuzzy set theory to level the carrier platform, while the leader runs along the target path. Membership functions of the fuzzy set theory are designed by using a genetic algorithm. The usefulness of the proposed method is demonstrated through simulation and experimental results.