CASIA OpenIR  > 复杂系统管理与控制国家重点实验室  > 先进机器人
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
Source PublicationIEEE SYSTEMS JOURNAL
2018-06-01
Volume12Issue:2Pages:1447-1455
SubtypeArticle
AbstractIn 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.
KeywordGeometric Transportation Approach Multiple Mobile Manipulators System Consistency Unknown Environments
WOS HeadingsScience & Technology ; Technology
DOI10.1109/JSYST.2016.2581171
WOS KeywordOBJECT
Indexed BySCI
Language英语
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:000431399100033
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/22041
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.Univ Chinese Acad Sci, Beijing 101408, Peoples R China
3.Deakin Univ, Inst Intelligent Syst Res & Innovat, Waurn Ponds, Vic 3216, Australia
Recommended Citation
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.
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