Knowledge Commons of Institute of Automation,CAS
Transportation by Multiple Mobile Manipulators in Unknown Environments With Obstacles | |
Jiao, Jile1; Cao, Zhiqiang1![]() ![]() | |
发表期刊 | IEEE SYSTEMS JOURNAL
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2017-12-01 | |
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 |
DOI | 10.1109/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 | |
文献类型 | 期刊论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/11033 |
专题 | 复杂系统认知与决策实验室_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 |
第一作者单位 | 中国科学院自动化研究所 |
推荐引用方式 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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