多机器人协作搬运物体，兼顾运动与动力学约束。
Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile Manipulators
- 分层规划：先全局路径再局部在线优化，提升可行性
- 考虑动态障碍与自碰撞，实现高效协同轨迹生成
- 适合需要灵活搬运的工业或服务机器人场景
本文提出一种面向多移动机械臂在动态环境中协同搬运物体的运动规划方法。全局路径规划器生成由线段组成的路径；新算法识别静态障碍物间的狭窄区域，以定义无障碍区域，提高路径可行性。随后，基于滚动时域的局部在线规划方法最小化控制努力，有限时间窗口内规划轨迹，同时考虑运动学、动力学约束以及静态和动态障碍物。该方法联合规划移动基座与机械臂动作，充分利用移动平台的位移能力与机械臂的操作能力。通过凸锥方法调整可允许状态空间，避免群体自碰撞，无需增加额外约束。数值仿真与硬件实验验证了所提方法的高效性。
原文摘要 · Abstract (English)
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel algorithm detects the narrow regions between the static obstacles and aids in defining the obstacle-free region to enhance the feasibility of the global path. We then formulate a local online motion planning technique for trajectory generation that minimizes the control efforts in a receding horizon manner. It plans the trajectory for finite time horizons, considering the kinodynamic constraints and the static and dynamic obstacles. The planning technique jointly plans for the mobile bases and the arms to utilize the locomotion capability of the mobile base and the manipulation capability of the arm efficiently. We use a convex cone approach to avoid self-collision of the formation by modifying the mobile manipulators admissible state without imposing additional constraints. Numerical simulations and hardware experiments showcase the efficiency of the proposed approach.
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