通过碰撞控制实现太空中多机器人协同搬运物体
Collaborative Object Transportation in Space via Impact Interactions
- 利用碰撞交互实现无摩擦环境下的物体控制
- 在2机器人1物体场景中验证了方法的有效性
- 适合研究太空机器人协作与规划的学者
我们提出一种面向空间微重力环境下多机器人协同搬运物体的规划与控制方法。在无摩擦自由漂浮环境中，物体和机器人均不受摩擦力影响，因此我们采用机器人与物体间的碰撞交互来实现对物体的控制。给定高层信号时序逻辑（STL）任务规范，我们生成机器人运动规划以最大化空间STL鲁棒性。由于物理碰撞过程复杂且难以精确建模，我们还提出了另一种基于简化运动学模型的方案，以最大化允许的不确定性。完整构建了从离线规划、在线重规划到各机器人低层模型预测控制的全栈系统。在高保真仿真中验证了多种场景，并在自由飞行平台实验中完成了2机器人1物体的验证。
原文摘要 · Abstract (English)
We present a planning and control approach for collaborative transportation of objects in space by a team of robots. Object and robots in microgravity environments are not subject to friction but are instead free floating. This property is key to how we approach the transportation problem: the passive objects are controlled by impact interactions with the controlled robots. In particular, given a high-level Signal Temporal Logic (STL) specification of the transportation task, we synthesize motion plans for the robots to maximize the specification satisfaction in terms of spatial STL robustness. Given that the physical impact interactions are complex and hard to model precisely, we also present an alternative formulation maximizing the permissible uncertainty in a simplified kinematic impact model. We define the full planning and control stack required to solve the object transportation problem; an offline planner, an online replanner, and a low-level model-predictive control scheme for each of the robots. We show the method in a high-fidelity simulator for a variety of scenarios and present experimental validation of 2-robot, 1-object scenarios on a freeflyer platform.
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