CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
Transportation by Multiple Mobile Manipulators in Unknown Environments With Obstacles
Jiao, Jile1; Cao, Zhiqiang1; Gu, Nong2; Nahavandi, Saeid2; Yang, Yuequan3; Tan, Min1
Source PublicationIEEE SYSTEMS JOURNAL
2017-12-01
Volume11Issue:4Pages:2894-2904
SubtypeArticle
AbstractA 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.
KeywordMultiple Mobile Manipulators Multiscale Passageway Transportation Transportation Modes Unknown Environments
WOS HeadingsScience & Technology ; Technology
DOI10.1109/JSYST.2015.2416215
WOS KeywordROBOTS
Indexed BySCI
Language英语
Funding OrganizationNational Natural Science Foundation of China(61273352 ; Australian Research Council(LP110200364 ; 61175111 ; LP120100598 ; 61421004 ; LP140100471) ; 60805038)
WOS Research AreaComputer Science ; Engineering ; Operations Research & Management Science ; Telecommunications
WOS SubjectComputer Science, Information Systems ; Engineering, Electrical & Electronic ; Operations Research & Management Science ; Telecommunications
WOS IDWOS:000417645300091
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/11033
Collection复杂系统管理与控制国家重点实验室_先进机器人
Affiliation1.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
Recommended Citation
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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