Transportation by Multiple Mobile Manipulators in Unknown Environments With Obstacles
Jiao, Jile1; Cao, Zhiqiang1; Gu, Nong2; Nahavandi, Saeid2; Yang, Yuequan3; Tan, Min1
2017-12-01
发表期刊IEEE SYSTEMS JOURNAL
卷号11期号:4页码:2894-2904
文章类型Article
摘要A novel approach to transport a large object by multiple mobile manipulators in unknown environments with obstacles is proposed in this paper. The main moving direction of the system as well as its width and the leading mobile manipulator are first assigned manually or obtained automatically according to the geometric layout of mobile manipulators. Then, three transportation modes, i.e., default mode, shrink mode, and incline mode, are defined based on constraints from the object and mobile manipulators. In default mode, mobile manipulators are distributed around the object to be transported with the initial geometric layout. Mobile manipulators in shrink mode are required to lie inside the boundaries of the object's outlined rectangle, whereas multiple mobile manipulators in incline mode endeavor to hold the object with an inclined angle. On this basis, a decision based on the multiscale passageway is proposed to facilitate the selection of best transportation mode and moving direction. The effectiveness of the approach is verified by simulations and experiments.
关键词Multiple Mobile Manipulators Multiscale Passageway Transportation Transportation Modes Unknown Environments
WOS标题词Science & Technology ; Technology
DOI10.1109/JSYST.2015.2416215
关键词[WOS]ROBOTS
收录类别SCI
语种英语
项目资助者National Natural Science Foundation of China(61273352 ; Australian Research Council(LP110200364 ; 61175111 ; LP120100598 ; 61421004 ; LP140100471) ; 60805038)
WOS研究方向Computer Science ; Engineering ; Operations Research & Management Science ; Telecommunications
WOS类目Computer Science, Information Systems ; Engineering, Electrical & Electronic ; Operations Research & Management Science ; Telecommunications
WOS记录号WOS:000417645300091
引用统计
被引频次:1[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/11033
专题复杂系统管理与控制国家重点实验室_先进机器人
作者单位1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
2.Deakin Univ, Ctr Intelligent Syst Res, Waurn Ponds, Vic 3217, Australia
3.Yangzhou Univ, Coll Informat Engn, Yangzhou 225009, Jiangsu, Peoples R China
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GB/T 7714
Jiao, Jile,Cao, Zhiqiang,Gu, Nong,et al. Transportation by Multiple Mobile Manipulators in Unknown Environments With Obstacles[J]. IEEE SYSTEMS JOURNAL,2017,11(4):2894-2904.
APA Jiao, Jile,Cao, Zhiqiang,Gu, Nong,Nahavandi, Saeid,Yang, Yuequan,&Tan, Min.(2017).Transportation by Multiple Mobile Manipulators in Unknown Environments With Obstacles.IEEE SYSTEMS JOURNAL,11(4),2894-2904.
MLA Jiao, Jile,et al."Transportation by Multiple Mobile Manipulators in Unknown Environments With Obstacles".IEEE SYSTEMS JOURNAL 11.4(2017):2894-2904.
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