A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments

doi:10.1109/JSYST.2016.2581171

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments
	Cao, Zhiqiang1,2 ; Gu, Nong 3; Jiao, Jile 1,2; Nahavandi, Saeid 3; Zhou, Chao1,2 ; Tan, Min1,2
刊名	IEEE SYSTEMS JOURNAL
	2018-06-01
卷号	12 期号:2 页码:1447-1455
关键词	Geometric Transportation Approach Multiple Mobile Manipulators System Consistency Unknown Environments
DOI	10.1109/JSYST.2016.2581171
文献子类	Article
英文摘要	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.
WOS关键词	OBJECT
WOS研究方向	Computer Science ; Engineering ; Operations Research & Management Science ; Telecommunications
语种	英语
WOS记录号	WOS:000431399100033
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/22041]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位	1.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
推荐引用方式 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.