A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments
| Autor: | Saeid Nahavandi, Nong Gu, Chao Zhou, Jile Jiao, Min Tan, Zhiqiang Cao |
|---|---|
| Rok vydání: | 2018 |
| Předmět: |
Robot kinematics
021103 operations research Basis (linear algebra) Computer Networks and Communications Computer science Mobile manipulator business.industry 0211 other engineering and technologies Control engineering 02 engineering and technology Interval (mathematics) Object (computer science) Computer Science Applications Consistency (database systems) Control and Systems Engineering Position (vector) Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Mobile telephony Electrical and Electronic Engineering business Information Systems |
| Zdroj: | IEEE Systems Journal. 12:1447-1455 |
| ISSN: | 2373-7816 1932-8184 |
| DOI: | 10.1109/jsyst.2016.2581171 |
| Popis: | In this paper, a geometric transportation approach is proposed for multiple mobile manipulators transporting a large object in unknown environments. The candidate interval of system width is first determined based on constraints from the object, mobile manipulators as well as the obstacles. Then, a passageway-based decision is made to facilitate the selection of the optimized system width and moving direction. On this basis, each mobile manipulator adjusts its position and posture with a form of system consistency to maintain a flexible marching while avoiding the obstacles. The main advantage of the proposed approach is that it leads to smooth changes in system configuration. The effectiveness of the proposed approach is verified by simulation experiments. |
| Databáze: | OpenAIRE |
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