起伏地形环境中多移动机器人协作运输策略 - 控制理论与应用.pdf

29 7 Vol. 29 No. 7 2012 7 Control Theory Applications Jul. 2012 : 1000−8152(2012)07−0857−10 1,2 2 1,2 1,2 , , , (1. , 200237; 2. , 310018) : , , . , . (navigate plain first to destination, NPFD). : ; ; ; ; : TP24 : A Cooperative transport strategy for multiple mobile robots in the environment with undulating terrain 1,2 2 1,2 1,2 YANG Fan , LIU Shi-rong , ZHONG Chao-liang , DONG De-guo (1. Institute of Automation, East China University of Science and Technology, Shanghai 200237, China; 2. Institute of Automation, Hangzhou Dianzi University, Hangzhou Zhejiang 310018, China) Abstract: The cooperative transport strategy for multiple mobile robots in the environment with undulating terrain is proposed, considering the slipping problem of the box and robots in the transportation. The multi-robot cooperative box pushing problem, in which robots are in watcher-pusher mode, is transformed into the multi-robot formation problem. Geometric-based virtual target sequence tracking is introduced to achieve the rearrangement of the transport formation when the object strayed from its current path. The navigation strategy in the cooperative transport strategy, which is called the navigate plain first to destination (NPFD) is employed by the watcher to guide the formation. The box pushing simulation is performed; the result illustrates the feasibility of the proposed transport strategy in the environment with undulating terrain. Key words: multiple mobile robot; cooperative transport; undulating terrain