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A novel geometric transportation approach for multiple mobile manipulators in unknown environments
journal contribution
posted on 2018-06-01, 00:00 authored by Z Cao, Nong Gu, J Jiao, Saeid Nahavandi, C Zhou, M TanIn 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.
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Journal
IEEE systems journalVolume
12Issue
2Pagination
1447 - 1455Publisher
IEEELocation
Piscataway, N.J.Publisher DOI
ISSN
1932-8184eISSN
1937-9234Language
engPublication classification
C1 Refereed article in a scholarly journalCopyright notice
2016, IEEEUsage metrics
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