Intelligent multi‑robot collaborative transport system  

作　　者：Xiaodong Li Yangfei Lin Zhaoyang Du Min Lin Celimuge Wu 

机构地区：[1]Graduate School of Informatics and Engineering,The University of Electro-Communications,Chofugaoka,Chofu 1828585,Tokyo,Japan [2]Inner Mongolia Electronic Information Vocational Technical College,8 Suergan Street,Saihan District,Hohhot 010000,Inner Mongolia Autonomous Region,China

出　　处：《Urban Lifeline》2024年第1期207-226,共20页城市生命线(英文)

基　　金：supported in part by the Inner Mongolia Autonomous Region Science and Technology Plan Key Technology Breakthroughs of China under Grant No.2021GG0218;in part by the MIC/SCOPE#JP235006102.

摘　　要：The research on multi-robot systems has been divided into various fields,such as communication,navigation,task allocation,and collaborative transport.While significant progress has been made in each area,there has been limited research integrating these fields to build a fully autonomous multi-robot collaborative transport system.Therefore,we identify the key issues and propose a multi-robot collaborative transport system founded on ROS1 and conduct validation in a simulated environment,laying a solid foundation for the system to run on real robots.The primary contributions of this study include three key areas:(1)modeling and validating robot collaborative transport,(2)developing a visual task allocation system leveraging FastDDS service,and(3)resolving path collision issues in multi-robot navigation through both traditional methods and reinforcement learning techniques.Extensive experimental evaluations demonstrate that the proposed intelligent multi-robot collaborative transport system can autonomously navigate to target points for collaborative transport task.Performance assessments,based on the error between the target point and the object’s arrival point as well as the transport trajectory error,reveal that the system effectively completes the assigned tasks.

关 键 词：MULTI-ROBOT Co-transport Reinforcement learning ROS1 FastDDS NAVIGATION 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]