实现非完整移动机械臂协作搬运的实时路径规划。
Motion Planning of Cooperative Nonholonomic Mobile Manipulators
- 基于椭圆法快速生成路径周围安全区域。
- 联合规划机械臂与底盘运动，生成无碰撞轨迹。
- 适用于动态环境中的实时协同搬运任务。
针对动态环境中非完整移动机械臂机器人（MMRs）协作搬运物体的问题，本文提出一种可实时实现的运动规划框架。全局规划器通过环境中的静态无障碍区域找到起点到终点的路径，并采用一种新颖、快速且计算轻量的椭圆基方法，在路径周围生成一系列凸形静态无障碍区域。引入一种基于非线性模型预测控制（NMPC）的实时可实现规划技术，联合规划移动底盘与机械臂手臂的可行运动，生成满足运动学与动力学约束、无碰撞的协作搬运轨迹。仿真与硬件实验验证了所提框架的高效性。
原文摘要 · Abstract (English)
We propose a real-time implementable motion planning framework for cooperative object transportation by nonholonomic mobile manipulator robots (MMRs) in dynamic environments. Our global planner finds a path from start to goal through the static, obstacle-free regions in the environment and generates a set of convex, static, obstacle-free regions around the path using a novel, fast, and computationally lightweight ellipse-based technique. We introduce a nonlinear Model Predictive Control (NMPC) based real-time implementable planning technique that jointly plans feasible motion for the mobile base and the manipulator's arm and generates a kinodynamic feasible, collision-free trajectory for cooperative object transportation. Simulation and hardware experiments validate the efficiency of our proposed planning framework.
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