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Cooperative Object Transportation Using Virtual Electric Dipole Field

Gyuho Eoh, Jae Do Jeon, and Beom H. Lee
Seoul National University, Seoul, South Korea

Abstract—This paper presents a new cooperative object transportation technique with obstacle avoidance. A key idea of proposed technique is to create a corridor around objects by lining up two rows using multiple robots. The multiple robots generate an extended corridor to a goal by following a unified field which consists of a virtual electric dipole field and potential fields. Two pusher robots push the object from behind and two leader robots in front of team lead the robot team to the goal. Simulation results are presented for verifying the proposed technique.

Index Terms—object transportation, electric dipole field, obstacle avoidance, multi-robot team

Cite: Gyuho Eoh, Jae Do Jeon, and Beom H. Lee, "Cooperative Object Transportation Using Virtual Electric Dipole Field," International Journal of Mechanical Engineering and Robotics Research, Vol. 5, No. 1, pp. 6-10, January 2016. DOI: 10.18178/ijmerr.5.1.6-10