Motion Planning for Multi-Mobile-Manipulator Payload Transport Systems
Rahul Tallamraju,Durgesh Haribhau Salunkhe,Sujit Rajappa,Aamir Ahmad,Kamalakar Karlapalem,Suril V. Shah +5 more
- pp 1469-1474
TLDR
A hierarchical approach is introduced to compute realtime collision-free motion plans for a formation of mobile manipulator robots and a convex decentralized model-predictive controller is formulated to plan collision- free trajectories for the formation ofMobile manipulators.Abstract:
In this paper, a kinematic motion planning algorithm for cooperative spatial payload manipulation is presented. A hierarchical approach is introduced to compute realtime collision-free motion plans for a formation of mobile manipulator robots. Initially, collision-free configurations of a deformable 2-D virtual bounding box are identified, over a planning horizon, to determine a convex workspace for the entire system. Then, 3-D payload configurations whose projections lie within the convex workspace are computed. Finally, a convex decentralized model-predictive controller is formulated to plan collision-free trajectories for the formation of mobile manipulators. Our work facilitates real-time motion planning for the system and is scalable in the number of robots. The algorithm is validated in simulated dynamic environments.read more
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References
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Journal ArticleDOI
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Journal ArticleDOI
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