Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments.
翻译:在控制和机器人文献中,对使用多机器人的合作物体运输进行了深入研究,但大多数方法要么只适用于万向机器人,要么缺乏一个能实时运行的完整的导航和决策框架,本文介绍了一个自主的非热层多机器人系统,以及协作式行李机动车运输的端对端等级自主框架。这个框架找到运动可行的路径,计算在线运动计划,并提供反馈,使多机器人系统能够处理长线行李轮车、导航障碍和行人,同时处理多种内在复杂和相互交织的限制。我们通过实际的运输任务展示了设计起来的协同机动车运输系统,实验结果显示了这些系统在复杂和动态环境中的有效性和可靠性。</s>