Motion planning for cooperative transportation of a large object bymultiple mobile robots in a 3D environment
Yamashita, A.; Fukuchi, M.; Ota, J.; Arai, T.; Asama, H.
Robotics and Automation, 2000. Proceedings. ICRA apos;00. IEEE International Conference on
Volume 4, Issue , 2000 Page(s):3144 - 3151 vol.4
Digital Object Identifier 10.1109/ROBOT.2000.845147
Summary:We propose a motion planning method for cooperative transportation
of a large object by multiple mobile robots in a 3 dimensional
environment. This task has various kinds of problems, such as path
planning, manipulation and so on. All of these problems can't be solved
at once, since computational time is exploded. Accordingly, we divide a
motion planner into a local manipulation planner and a global path
(motion) planner, and design these two planners respectively, and we
integrate two planners. Namely, we aim at integrating a gross motion
planner and a fine motion planner. As to the local manipulation planner,
we build a manipulation technique, which is suitable for mobile robots
by position control. We compute conditions, in which the object becomes
unstable during manipulation, and generate each robot's motion
considering the robots' motion errors and indefinite factors from the
planning stage. As to the global path planner, we reduce the dimensions
of the configuration space (C-space) using the feature of transportation
by mobile robots. We can find a solution with searching in this smaller
dimensional C-space using the potential field defined in the C-space,
and constraints of the object manipulation are considered as the
potential function. We verify the effectiveness of our proposed motion
planning method through simulations and experiments
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