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Motion planning for multi-mobile-manipulator payload transport systems
R. Tallamraju, D.H. Salunkhe, S. Rajappa, A. Ahmad, K. Karlapalem,
Published in IEEE Computer Society
Volume: 2019-August
Pages: 1469 - 1474
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. © 2019 IEEE.
About the journal
JournalData powered by TypesetIEEE International Conference on Automation Science and Engineering
PublisherData powered by TypesetIEEE Computer Society