让移动机器人在行进中自动对接，提升物流运输效率。
Rendezvous and Docking of Mobile Ground Robots for Efficient Transportation Systems
- 用中央模型预测控制实现双机器人动态耦合
- 行进中对接使运输节省19.75%时间、21.04%能耗
- 适用于任意起始位置的自主对接场景
多辆移动地面机器人在运动中进行物理耦合，可实现高效货物转运，解决当前物流中的效率瓶颈。核心挑战在于：无论初始位置如何，均需实现两台移动机器人的可靠自主在运动中物理对接。现有方法忽略对接接口建模与接近策略，导致不可控碰撞，使对接无法实现或效率低下。为此，我们提出一种中心化模型预测控制（MPC）方法，显式建模两个全向轮机器人的动力学状态，引入对接接口相关约束，并设计相应的会合与对接策略。该方法使带有对接接口的全向轮机器人可在任意初始位置下实现运动中物理耦合。此外，该方案实现了在运动中转运，在物流场景中相比非耦合方式节省19.75%时间、21.04%能耗。
原文摘要 · Abstract (English)
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A key challenge lies in achieving reliable autonomous in-motion physical coupling of two mobile ground robots starting at any initial position. Existing approaches neglect the modeling of the docking interface and the strategy for approaching it, resulting in uncontrolled collisions that make in-motion physical coupling either impossible or inefficient. To address this challenge, we propose a central mpc approach that explicitly models the dynamics and states of two omnidirectional wheeled robots, incorporates constraints related to their docking interface, and implements an approaching strategy for rendezvous and docking. This novel approach enables omnidirectional wheeled robots with a docking interface to physically couple in motion regardless of their initial position. In addition, it makes in-motion transfer possible, which is 19.75% more time- and 21.04% energy-efficient compared to a non-coupling approach in a logistic scenario.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。