Image-Based Control of Two Mobile Robots for Object Pushing

被引：0

作者：

Lopez-Nicolas, Gonzalo ^{[1
]}

Oezgur, Erol ^{[2
]}

Mezouar, Youcef ^{[3
]}

机构：

[1] Univ Zaragoza, Inst Invest Ingn Aragon, E-50009 Zaragoza, Spain

[2] Univ Auvergne ISIT ALCoV, Clermont Ferrand, France

[3] UBP IFMA CNRS, Inst Pascal, Clermont Ferrand, France

来源：

2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2015年

关键词：

MANIPULATION; MOTION;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper shows how to push an unknown object in the plane from an initial pose to a target pose with two cooperating mobile robots. On the object motion, we deliberately impose non-holonomic velocity constraint with pushing mobile robots. This yields smooth and efficient trajectories. Pushing manipulation is performed, for the first time, with a new uncalibrated image-based control scheme. This is achieved by transforming the image information to a scaled Euclidean space without using any metric information or calibration. Stability of the control law is also demonstrated.

引用

页码：5472 / 5478

页数：7

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