Hierarchical Motion Control of Transfer Robots Considering Coverage and Collision Avoidance in Area With Obstacles
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Wiley Open Access
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| Natura: | Artículo Open Access |
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Wiley
2026
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| author | Keisuke Takakura Hikaru Akutsu Chiaki Kojima |
| author_facet | Keisuke Takakura Hikaru Akutsu Chiaki Kojima Keisuke Takakura Hikaru Akutsu Chiaki Kojima |
| collection | Wiley Open Access |
| contents | Hierarchical Motion Control of Transfer Robots Considering Coverage and Collision Avoidance in Area With Obstacles Keisuke Takakura Hikaru Akutsu Chiaki Kojima Electronics and Communications in Japan ABSTRACT In this paper, we propose a hierarchical control method for the motion of transportation robots with the aim of solving problems related to the transportation of cargo in the logistics/transportation industry by introducing transportation robots. Specifically, multiple robots simultaneously achieve transportation of cargo to a target position, avoidance of collisions with obstacles, and coverage of the area in a two‐dimensional region with obstacles. At first, the administrator specifies a transportation or coverage task for each robot as a global control. Then, one robot that is assigned a transportation task carries out the transportation of cargo while avoiding collisions with obstacles by local tangent bug‐based motion control. On the other hand, the remaining robots without the transportation task continue to cover the region. Finally, the effectiveness of the proposed control method is verified by numerical simulations assuming a train station and the other for a shopping mall. 10.1002/ecj.70021 http://onlinelibrary.wiley.com/termsAndConditions#vor |
| doi_str_mv | 10.1002/ecj.70021 |
| format | Artículo Open Access |
| id | wiley_oa_10_1002_ecj_70021 |
| institution | Wiley Open Access |
| license_str_mv | http://onlinelibrary.wiley.com/termsAndConditions#vor |
| publishDate | 2026 |
| publisher | Wiley |
| record_format | wiley_oa |
| spellingShingle | Hierarchical Motion Control of Transfer Robots Considering Coverage and Collision Avoidance in Area With Obstacles Keisuke Takakura Hikaru Akutsu Chiaki Kojima Electronics and Communications in Japan Hierarchical Motion Control of Transfer Robots Considering Coverage and Collision Avoidance in Area With Obstacles Keisuke Takakura Hikaru Akutsu Chiaki Kojima Electronics and Communications in Japan ABSTRACT In this paper, we propose a hierarchical control method for the motion of transportation robots with the aim of solving problems related to the transportation of cargo in the logistics/transportation industry by introducing transportation robots. Specifically, multiple robots simultaneously achieve transportation of cargo to a target position, avoidance of collisions with obstacles, and coverage of the area in a two‐dimensional region with obstacles. At first, the administrator specifies a transportation or coverage task for each robot as a global control. Then, one robot that is assigned a transportation task carries out the transportation of cargo while avoiding collisions with obstacles by local tangent bug‐based motion control. On the other hand, the remaining robots without the transportation task continue to cover the region. Finally, the effectiveness of the proposed control method is verified by numerical simulations assuming a train station and the other for a shopping mall. 10.1002/ecj.70021 http://onlinelibrary.wiley.com/termsAndConditions#vor |
| title | Hierarchical Motion Control of Transfer Robots Considering Coverage and Collision Avoidance in Area With Obstacles |
| topic | Electronics and Communications in Japan |
| url | https://onlinelibrary.wiley.com/doi/10.1002/ecj.70021 |