This paper tackles the problem of robots collaboratively towing a load with cables to a specified goal location while avoiding collisions in real time. The introduction of cables (as opposed to rigid links) enables the robotic team to travel through narrow spaces by changing its intrinsic dimensions through slack/taut switches of the cable. However, this is a challenging problem because of the hybrid mode switches and the dynamical coupling among multiple robots and the load. Previous attempts at addressing such a problem were performed offline and do not consider avoiding obstacles online. In this paper, we introduce a cascaded planning scheme with a parallelized centralized trajectory optimization that deals with hybrid mode switches. We additionally develop a set of decentralized planners per robot, which enables our approach to solve the problem of collaborative load manipulation online. We develop and demonstrate one of the first collaborative autonomy framework that is able to move a cable-towed load, which is too heavy to move by a single robot, through narrow spaces with real-time feedback and reactive planning in experiments.
翻译:本文解决了机器人在实时避免碰撞的同时,协同将电缆加电缆的负荷拖到特定目标位置的问题。 引入电缆( 而不是僵硬的链接) 使机器人团队能够通过电缆的松懈/ 倾斜开关改变其内在维度, 从而改变其内在维度, 从而在狭小的空间中行走。 然而, 由于混合模式开关以及多个机器人和负载之间的动态连接, 这是一个具有挑战性的问题。 先前试图解决这一问题的尝试是离线进行的, 不考虑避免在网上设置障碍 。 在本文中, 我们引入了一个连锁规划计划, 与一个平行的中央轨道优化计划, 处理混合模式开关 。 我们另外开发了一组分散的机器人规划器, 从而使我们能够在网上解决合作操作负载的问题。 我们开发并展示了第一个协作自主框架之一, 它能够移动一条电缆拖载的负载, 它太重, 无法由单一机器人移动, 在试验中进行实时反馈和反应规划的狭窄空间 。