起伏地形环境中多移动机器人协作运输策略  

Cooperative transport strategy for multiple mobile robots in the environment with undulating terrain

作　　者：杨帆[1,2] 刘士荣[2] 仲朝亮[1,2] 董德国[1,2] 

机构地区：[1]华东理工大学自动化研究所,上海200237 [2]杭州电子科技大学自动化研究所,浙江杭州310018

出　　处：《控制理论与应用》2012年第7期857-866,共10页Control Theory & Applications

基　　金：国家自然科学基金资助项目(61175093);浙江省自然科学基金资助项目(Y1090353)

摘　　要：对多机器人协作运输时环境地形起伏不平,运输过程中机器人和物体发生滑动的问题,提出了起伏地形环境中的协作运输策略.将观测者-推动者模式的多机器人协作推箱子任务转换为多机器人编队任务,通过基于几何规划的虚拟目标序列跟踪方法实现被推动物体脱离运动方向时运输编队的重新形成.协作运输策略中的观测者机器人采用平缓地形优先(navigate plain first to destination,NPFD)导航策略指导编队运动.The cooperative transport strategy for multiple mobile robots in the environment with undulating terrain is proposed, considering the slipping problem of the box and robots in the transportation. The multi-robot cooperative box pushing problem, in which robots are in watcher-pusher mode, is transformed into the multi-robot formation problem. Geometric-based virtual target sequence tracking is introduced to achieve the rearrangement of the transport formation when the object strayed from its current path. The navigation strategy in the cooperative transport strategy, which is called the navigate plain first to destination （NPFD） is employed by the watcher to guide the formation. The box pushing simulation is performed; the result illustrates the feasibility of the proposed transport strategy in the environment with undulating terrain.

关 键 词：多移动机器人 协作运输 起伏地形 虚拟目标序列跟踪 观测者-跟随者 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]