A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments
Zhiqiang Cao, Nong Gu, Jile Jiao, Saeid Nahavandi, Chao Zhou, Min Han Tan · IEEE Systems Journal · 2016
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.