| MOTION PLANNING OF MULTIPLE MOBILE ROBOTSCOOPERATIVELY TRANSPORTING A COMMON OBJECT |
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| 作者姓名： | 战强 丁希仑 张启先 王树国 |
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| 作者单位： | [1]RobotResearchInstitute,BeijingUniversityofAeronauticsandAstronautics,Belting100083,China [2]RobotResearchInstitute,HarbinInstituteofTechnology,Harbin150001,China |
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| 摘 要： | Many applications above the capability of a single robot need the cooperation of multipl emobile robots, but effective cooperation is hard to achieve. In this paper, a master-slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a “Dynamic Coordinator“ strategy is used to deal with the collision-avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method.
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| 关 键 词： | 多重移动机器人 运行机制 协调性 计算机仿真 并行控制 |
MOTION PLANNING OF MULTIPLE MOBILE ROBOTS COOPERATIVELY TRANSPORTING A COMMON OBJECT |
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| ZHAN Qiang,DING Xi-lun,ZHANG Qi-xian,WANG Shu-guo.MOTION PLANNING OF MULTIPLE MOBILE ROBOTSCOOPERATIVELY TRANSPORTING A COMMON OBJECT[J].Chinese Journal of Aeronautics,2000,13(2):118-122. |
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| Authors: | ZHAN Qiang DING Xi-lun ZHANG Qi-xian WANG Shu-guo |
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| Abstract: | Many applications above the capability of a single robot need the cooperation of multiple mobile robots, but effective cooperation is hard to achieve. In this paper, a master-slave method is proposed to control the motions of multiple mobile robots that cooperatively transport a common object from a start point to a goal point. A noholonomic kinematic model to constrain the motions of multiple mobile robots is built in order to achieve cooperative motions of them, and a "Dynamic Coordinator" strategy is used to deal with the collision-avoidance of the master robot and slave robot individually. Simulation results show the robustness and effectiveness of the method. |
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| Keywords: | multiple mobile robots motion planning cooperation coordinated control simulation |
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