A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments
文献类型：期刊论文
| 作者 | Cao, Zhiqiang1,2 ; Gu, Nong3; Jiao, Jile1,2; Nahavandi, Saeid3; Zhou, Chao1,2; Tan, Min1,2
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| 刊名 | IEEE SYSTEMS JOURNAL
 |
| 出版日期 | 2018-06-01 |
| 卷号 | 12期号:2页码:1447-1455 |
| 关键词 | Geometric Transportation Approach Multiple Mobile Manipulators System Consistency Unknown Environments |
| DOI | 10.1109/JSYST.2016.2581171 |
| 文献子类 | Article |
| 英文摘要 | In this paper, a geometric transportation approach is proposed for multiple mobile manipulators transporting a large object in unknown environments. The candidate interval of system width is first determined based on constraints from the object, mobile manipulators as well as the obstacles. Then, a passageway-based decision is made to facilitate the selection of the optimized system width and moving direction. On this basis, each mobile manipulator adjusts its position and posture with a form of system consistency to maintain a flexible marching while avoiding the obstacles. The main advantage of the proposed approach is that it leads to smooth changes in system configuration. The effectiveness of the proposed approach is verified by simulation experiments. |
| WOS关键词 | OBJECT |
| WOS研究方向 | Computer Science ; Engineering ; Operations Research & Management Science ; Telecommunications |
| 语种 | 英语 |
| WOS记录号 | WOS:000431399100033 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/22041]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Beijing 101408, Peoples R China 3.Deakin Univ, Inst Intelligent Syst Res & Innovat, Waurn Ponds, Vic 3216, Australia |
| 推荐引用方式 GB/T 7714 | Cao, Zhiqiang,Gu, Nong,Jiao, Jile,et al. A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments[J]. IEEE SYSTEMS JOURNAL,2018,12(2):1447-1455. |
| APA | Cao, Zhiqiang,Gu, Nong,Jiao, Jile,Nahavandi, Saeid,Zhou, Chao,&Tan, Min.(2018).A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments.IEEE SYSTEMS JOURNAL,12(2),1447-1455. |
| MLA | Cao, Zhiqiang,et al."A Novel Geometric Transportation Approach for Multiple Mobile Manipulators in Unknown Environments".IEEE SYSTEMS JOURNAL 12.2(2018):1447-1455. |
入库方式： OAI收割
来源：自动化研究所
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