A Smooth Planning Method for Multi-Robot Transportation System With Decoupled Path and Orientation Planning
Journal
Proceedings of the ASME Design Engineering Technical Conference
Part Of
Proceedings of the ASME Design Engineering Technical Conference
Journal Volume
7
Start Page
v007t07a024
ISBN (of the container)
9780791888414
ISBN
9780791888414
Date Issued
2024-08-25
Author(s)
Kuan-Hsien Lee
DOI
10.1115/DETC2024-142447
Abstract
Multi-Robot Systems (MRS) are gaining popularity in various fields due to their adaptability and scalability, particularly in transporting large items. Integrating motion constraints presents a challenge for these systems, as these constraints affect the robots' dynamics, complicating planning and control. Traditional methods that use general motion modes and constraints simplify planning but can limit maneuverability. Moreover, conventional collision detection often simplifies interactions too much, hindering the system's ability to adjust its orientation to navigate around obstacles, a significant issue with slender objects. This paper introduces a novel planning methodology that strategically decouples path planning from orientation planning. This decoupled approach facilitates the generation of smooth trajectories that inherently accommodate static obstacle avoidance, ensuring seamless navigation throughout the transportation task. Theoretical analysis confirms the method's efficacy in achieving smooth motion, while empirical evidence demonstrates its superiority in reducing overall travel distances when compared to existing algorithms. This dual-phase planning strategy not only enhances the operational efficiency of MRS in complex environments but also extends the potential applications of robotic transportation systems by mitigating the limitations imposed by traditional planning constraints.
Event(s)
ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2024, Washington, 25 August 2024 through 28 August 2024. Code 203940
Subjects
Motion Constraints
Multi-Robot System
Path Continuity
Slender Object Transportation
Smooth Path Planning
Publisher
American Society of Mechanical Engineers
Type
conference paper