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Development of Novel Motion Planning and Controls for a Series of Physically Connected Robots in Dynamic Environments by Negin Lashkari; Mohammad Biglarbegian; Simon X. Yang is a Engineering article available to read on EtoBox.

What is Development of Novel Motion Planning and Controls for a Series of Physically Connected Robots in Dynamic Environments about?

The motion planning and control of physically connected robots, e.g., docked mobile robots (DMR), is a challenging problem due to robots' underactuated and nonlinear dynamics as well as their physical constraints. The majority of the motion planning approaches developed for DMR are not robust to robots' mass difference and are only applicable to static environments. This paper proposes a novel motion planning methodology for a DMR, consisting of a nonholonomic circular-shape leader and N holonomic passive-wheels active-joints circular-shape followers, through developing: (i) a trajectory planner to determine the motion of docked followers for tracking a desired path, (ii) a robust motion controller to navigate DMR through the planned trajectory, and (iii) a collision avoidance strategy to provide a collision-free transit for followers in dynamic environments. We propose two novel approaches for collision avoidance: a reactive approach which is a decentralized method that utilizes robots' on-board measurement sensors, and a cooperative approach which is a centralized approach that uses environment information (e.g. obstacle locations) to prevent imminent collisions. In the reactive

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Author

Negin Lashkari; Mohammad Biglarbegian; Simon X. Yang

Published

2018

Language

EN

Field

Engineering (Physical Sciences)