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A novel geometric transportation approach for multiple mobile manipulators in unknown environments

Version 2 2024-06-05, 11:52
Version 1 2017-06-19, 14:29
journal contribution
posted on 2024-06-05, 11:52 authored by Z Cao, N Gu, J Jiao, S Nahavandi, C Zhou, M Tan
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.

History

Journal

IEEE systems journal

Volume

12

Pagination

1447-1455

Location

Piscataway, N.J.

ISSN

1932-8184

eISSN

1937-9234

Language

eng

Publication classification

C1 Refereed article in a scholarly journal

Copyright notice

2016, IEEE

Issue

2

Publisher

IEEE