Cooperative Object Transportation by Multiple Robots with Their Own Objective Tasks
Cooperative Object Transportation by Multiple Robots with Their Own Objective Tasks
复制标题
具有各自目标任务的多个机器人协作进行物体运输
DOI：
10.7210/jrsj.19.888
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发表时间：
2001
期刊：
影响因子：
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通讯作者：
Toshinobu Nakajima
中科院分区：
文献类型：
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作者：
Kenji Inoue;Toshinobu Nakajima
提出了一种适用于未知环境的单目标运输多机器人协同控制方法。在这种方法中，所有的机器人都由相同的算法控制，它们可以同时执行不同的目标任务。任务被表示为对象的期望位置和相关的权重矩阵，每个机器人可以独立于其他机器人的任务来设置自己的期望位置和权重矩阵。通过该方法，机器人可以协作地将物体运送到所有机器人设定的目标位置的加权中点，而不需要相互进行任务通信。在运输过程中，机器人和物体之间的力被尽可能平均地控制。此外，只有当一些处于施加大力的危险中的机器人向其他机器人广播开/关信号时，才能抑制内力。因此，这种方法要求机器人之间的实时通信量很小，并且不依赖于机器人的数量。由于这些特点，该方法可以处理一个机器人具有路径跟踪任务而另一个机器人具有障碍回避任务的情况，从而允许在未知环境中进行具有避障的协作目标运输。通过计算机仿真和实验验证了该方法的有效性和实用性。
A cooperative control method for multiple robots of single object transportation is proposed, which is applicable to unknown environment. In this method, all robots are controlled by the same algorithm, and they can have different objective tasks simultaneously. A task is expressed as the desired position of the object and the associated weight matrix, and each robot can set its own desired position and weight matrix independently of the other robots' tasks. By the proposed method, the robots can cooperatively transport the object to the composite desired position which is the weighted mid point of the desired positions set by all robots, without communicating their tasks with one another. The forces between the robots and the object are controlled as equally as possible during transportation. Furthermore, the internal forces can be suppressed only if some robots in danger of applying large forces broadcast on/off signal to the other robots. Accordingly, this method requires little amount of real-time communication among the robots and does not depend on the number of robots. Owing to these features, the method can deal with the situation where one robot has “path tracking task” and another robot which detects an obstacle has “obstacle avoidance task”; that allows cooperative object transportation with obstacle avoidance in unknown environment. The effectiveness and usefulness of the method are ascertained by computer simulation and experiment.
论完整系统的构建
DOI：
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发表时间：
2013
期刊：
影响因子：
--
作者：
根來均;他;Yoshishige Haraoka
通讯作者：
Yoshishige Haraoka