車輪型作業移動ロボットにおけるグローバル/ローカルタスクプラニング(Visual Presentation Contest)

概要

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This paper investigates multiple wheeled mobile manipulators coordinating with each other under a potential collision situation. In our previous work we derived kinematic and dynamic maniuplability measures for multiple mobile manipulators transporting a common object. Main objective of this paper is to extend the previous approach to a system consisting of two mobile manipulators carrying a common object while avoiding the a collision. A newly developed simulation tool is introduced where a variety of simulation options are available. One can use such a tool for a high-level task planning as well as a low-level trajectory planning. Another objective is to verify the simulation results by conducting experiments on a real robot system. The experiment results show a good agreement with the simulation results.
社団法人日本機械学会の論文
2004-03-03