A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments
Cao, Zhiqiang1,2; Gu, Nong3; Jiao, Jile1,2; Nahavandi, Saeid3; Zhou, Chao1,2; Tan, Min1,2
2018-06-01
发表期刊IEEE SYSTEMS JOURNAL
卷号12期号:2页码:1447-1455
文章类型Article
摘要In this paper, a geometric transportation approach is proposed for multiple mobile manipulators transporting a large object in unknown environments. The candidate interval of system width is first determined based on constraints from the object, mobile manipulators as well as the obstacles. Then, a passageway-based decision is made to facilitate the selection of the optimized system width and moving direction. On this basis, each mobile manipulator adjusts its position and posture with a form of system consistency to maintain a flexible marching while avoiding the obstacles. The main advantage of the proposed approach is that it leads to smooth changes in system configuration. The effectiveness of the proposed approach is verified by simulation experiments.
关键词Geometric Transportation Approach Multiple Mobile Manipulators System Consistency Unknown Environments
WOS标题词Science & Technology ; Technology
DOI10.1109/JSYST.2016.2581171
关键词[WOS]OBJECT
收录类别SCI
语种英语
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:000431399100033
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/173211/22041
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.Univ Chinese Acad Sci, Beijing 101408, Peoples R China
3.Deakin Univ, Inst Intelligent Syst Res & Innovat, Waurn Ponds, Vic 3216, Australia
推荐引用方式
GB/T 7714
Cao, Zhiqiang,Gu, Nong,Jiao, Jile,et al. A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments[J]. IEEE SYSTEMS JOURNAL,2018,12(2):1447-1455.
APA Cao, Zhiqiang,Gu, Nong,Jiao, Jile,Nahavandi, Saeid,Zhou, Chao,&Tan, Min.(2018).A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments.IEEE SYSTEMS JOURNAL,12(2),1447-1455.
MLA Cao, Zhiqiang,et al."A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments".IEEE SYSTEMS JOURNAL 12.2(2018):1447-1455.
条目包含的文件
条目无相关文件。
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Cao, Zhiqiang]的文章
[Gu, Nong]的文章
[Jiao, Jile]的文章
百度学术
百度学术中相似的文章
[Cao, Zhiqiang]的文章
[Gu, Nong]的文章
[Jiao, Jile]的文章
必应学术
必应学术中相似的文章
[Cao, Zhiqiang]的文章
[Gu, Nong]的文章
[Jiao, Jile]的文章
相关权益政策
暂无数据
收藏/分享
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。