Aerial-ground robotic system for autonomous delivery tasks
Aerial-ground robotic system for autonomous delivery tasks
复制标题
用于自主交付任务的空地机器人系统
DOI：
10.1109/icra.2016.7487759
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
S. Bogdan
中科院分区：
文献类型：
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作者：
Barbara Arbanas;Antun Ivanovic;Marko Car;Tomislav Haus;M. Orsag;T. Petrović;S. Bogdan
在本文中，我们提出了一种机器人系统的研究，该系统由配备一对机械臂的无人机（MMUAV）和无人地面车辆（ugv）组成。设想的应用场景包括自主数据包传输，其中MMUAV用于拾取/放置数据包，而MMUAV和UGV都可用于数据包传输，具有不同的能耗概况。提出了一种基于TÆMS框架的分层任务分解机器人分散任务规划与协调的反应式方法。我们的方法考虑到系统的低级运动规划方面以及高级任务规范，使其成为多层系统。对于低级规划，我们使用基于采样的规划与无障碍轨迹生成相结合的方法。在3D Robotics四轴飞行器和Pioneer 3DX移动机器人的仿真和实验平台上验证了该方法的稳定性和鲁棒性。
In this paper we present a study of a robotic system that consists of an unmanned aerial vehicle equipped with a pair of manipulator arms (MMUAV), and unmanned ground vehicles (UGVs). The envisioned application scenario includes autonomous packet transportation, where MMUAV is used for picking/placing packets, while both MMUAV and UGV can be used for packet transportation, with different energy consumption profiles. We propose a reactive method for decentralized task planning and coordination of robots using hierarchical task decomposition based on TÆMS framework. Our approach takes into account low-level motion-planning aspects of the system as well as high-level mission specification, making this a multi-layered system. For low-level planning we use sampling-based planner combined with obstacle-free trajectory generation. Methods are verified in simulations and on an experimental testbed, using 3D Robotics quadcopter and Pioneer 3DX mobile robots with the results showing stability and robustness of the presented methods.