TY - JOUR
T1 - Two-Layers Workspace
T2 - A New Approach to Cooperative Object Transportation with Obstacle Avoidance for Multi-Robot System
AU - De Sousa, Stephanie Kamarry Alves
AU - Freire, Raimundo Carlos Silverio
AU - Carvalho, Elyson Adan Nunes
AU - Molina, Lucas
AU - Santos, Phillipe Cardoso
AU - Freire, Eduardo Oliveira
N1 - Publisher Copyright:
© 2013 IEEE.
PY - 2022
Y1 - 2022
N2 - In this paper we present a new approach to cooperative overhead object transportation with obstacle avoidance for multi-robot systems. This approach considers situations in which there are obstacles that only pose a risk to the robots involved in the transport and not necessarily to the group of robots with the load. Thus, we propose to separate the workspace into two layers in a way that the obstacles which only pose risk of collision to the robots can be transposed by a local planner. This new approach to the load transportation problem allows the system to find shorter paths or even find a solution in situations which would not be possible with the classic approach. Furthermore, the developed method has a configuration space independent of the number of robots and it is robust to environmental variation, not reducing its performance in more complex environments as in narrow passages or long corridors. The proposed approach was tested by simulation and the results are compared to the classic one.
AB - In this paper we present a new approach to cooperative overhead object transportation with obstacle avoidance for multi-robot systems. This approach considers situations in which there are obstacles that only pose a risk to the robots involved in the transport and not necessarily to the group of robots with the load. Thus, we propose to separate the workspace into two layers in a way that the obstacles which only pose risk of collision to the robots can be transposed by a local planner. This new approach to the load transportation problem allows the system to find shorter paths or even find a solution in situations which would not be possible with the classic approach. Furthermore, the developed method has a configuration space independent of the number of robots and it is robust to environmental variation, not reducing its performance in more complex environments as in narrow passages or long corridors. The proposed approach was tested by simulation and the results are compared to the classic one.
KW - Low dimension configuration space
KW - Muti-robot systems
KW - Object transport
KW - Obstacle avoidance
UR - http://www.scopus.com/inward/record.url?scp=85122871965&partnerID=8YFLogxK
U2 - 10.1109/ACCESS.2022.3140857
DO - 10.1109/ACCESS.2022.3140857
M3 - Article
AN - SCOPUS:85122871965
SN - 2169-3536
VL - 10
SP - 6929
EP - 6939
JO - IEEE Access
JF - IEEE Access
ER -
