Knowledge Commons of Institute of Automation,CAS
Cooperative Object Transportation for Second-order Multi-robot Systems in Dynamic Environment | |
Cai, Qiang1,2![]() ![]() ![]() | |
2023-04 | |
会议名称 | 42nd Chinese Control Conference |
会议录名称 | Proceedings of the 42nd Chinese Control Conference |
页码 | 5482-5487 |
会议日期 | 2023-7-24 |
会议地点 | 天津 |
会议举办国 | 中国 |
摘要 | Cooperative transportation has become popular in recent years due to the development of multi-robot system. The whole transportation task is composed of several subtasks like formation control, team navigation, and dynamic obstacle avoidance. In this paper, we mainly focus on optimization-based control for cooperative transportation task. First, we describe the second-order dynamic of multi-robot system, and then define constraints for each subtask to establish the form of optimization problem. Second, we propose a controller based on hierarchical quadratic programming method to cooperate subtasks with different priorities. Finally, we design simulations to validate the effectiveness of our controller. |
学科领域 | 自动控制技术 |
学科门类 | 工学::控制科学与工程 |
DOI | 10.23919/CCC58697.2023.10240879 |
收录类别 | EI |
EI入藏号 | 20234515015970 |
EI主题词 | Robotics ; Robot Applications ; Control Equipment ; Systems Science |
七大方向——子方向分类 | 智能控制 |
国重实验室规划方向分类 | 多智能体决策 |
是否有论文关联数据集需要存交 | 否 |
引用统计 | |
文献类型 | 会议论文 |
条目标识符 | http://ir.ia.ac.cn/handle/173211/56604 |
专题 | 复杂系统认知与决策实验室_飞行器智能技术 |
通讯作者 | Ai, Xiaolin |
作者单位 | 1.School of Artficial Intelligence, University of Chinese Academy of Sciences 2.Institute of Automation, Chinese Academy of Sciences |
第一作者单位 | 中国科学院自动化研究所 |
通讯作者单位 | 中国科学院自动化研究所 |
推荐引用方式 GB/T 7714 | Cai, Qiang,Ai, Xiaolin,Liu, Tianqi,et al. Cooperative Object Transportation for Second-order Multi-robot Systems in Dynamic Environment[C],2023:5482-5487. |
条目包含的文件 | 下载所有文件 | |||||
文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
Cooperative_Object_T(3418KB) | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 |
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