Leader-follower type motion control algorithm of multiple mobile robots with dual manipulators for handling a single object in coordination

In this paper, we propose a leader-follower type motion control algorithm of multiple mobile robots with dual manipulators handling a single object in coordination. In this algorithm, the representative point of each robot is controlled as if it has C! caster-like dynamics in 3-0 space, and each robot handles a single object in coordination with other robots without using the geometric relations among the robots based on the leaderfollower type motion control algorithm. The proposed control algorithm is experimentally applied to two mobile robots with dual manipulators, and the validity of the proposed control algorithm is ir'lustrated by the experimental results.