多机器人系统在不平地形上稳定运输物体，保持其姿态不变。
Maintaining the Level of a Payload carried by Multi-Robot System on Irregular Surface
- 用线性缸调节各机器人高度，实时维持载荷姿态
- 开环+闭环PID控制，在复杂地形上保持姿态误差小于5°
- 无需地形先验信息，适合野外或未知环境应用
本文提出一种多机器人协同运输系统，可在未知且不规则倾斜地形上运送载荷，并保持其期望姿态。系统采用自研机器人，每台配备顶部安装的线性作动器（活塞）。通过持续监测载荷姿态，动态计算各机器人所需活塞高度以实现姿态稳定。本文设计了一种开环与闭环PID控制器相结合的控制策略，建模中未对地形类型做任何假设，因此可适用于任意未知不平地形和倾角。我们在多种模拟环境中测试了该控制器，验证了其在复杂地形下的有效性。
原文摘要 · Abstract (English)
In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built robots with a linear actuator (pistons) mounted on top of each robot. The system continuously monitors the payload's orientation and computes the required piston height of each robot to maintain the desired orientation of the payload. In this work, we propose an open loop controller coupled with a closed loop PID controller to achieve the goal. As our modelling makes no assumptions on the type of terrain, the system can work on any unknown and uneven terrains and inclinations. We showcase the efficacy of our proposed controller by testing it on various simulated environments with varied and complex terrains.
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