Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile Manipulators Article Swipe
Keshab Patra
,
Arpita Sinha
,
Anirban Guha
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2409.14910
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.48550/arxiv.2409.14910
This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel algorithm detects the narrow regions between the static obstacles and aids in defining the obstacle-free region to enhance the feasibility of the global path. We then formulate a local online motion planning technique for trajectory generation that minimizes the control efforts in a receding horizon manner. It plans the trajectory for finite time horizons, considering the kinodynamic constraints and the static and dynamic obstacles. The planning technique jointly plans for the mobile bases and the arms to utilize the locomotion capability of the mobile base and the manipulation capability of the arm efficiently. We use a convex cone approach to avoid self-collision of the formation by modifying the mobile manipulators admissible state without imposing additional constraints. Numerical simulations and hardware experiments showcase the efficiency of the proposed approach.
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Metadata
- Type
- preprint
- Language
- en
- Landing Page
- http://arxiv.org/abs/2409.14910
- https://arxiv.org/pdf/2409.14910
- OA Status
- green
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4403796325
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4403796325Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.48550/arxiv.2409.14910Digital Object Identifier
- Title
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Kinodynamic Motion Planning for Collaborative Object Transportation by Multiple Mobile ManipulatorsWork title
- Type
-
preprintOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-09-23Full publication date if available
- Authors
-
Keshab Patra, Arpita Sinha, Anirban GuhaList of authors in order
- Landing page
-
https://arxiv.org/abs/2409.14910Publisher landing page
- PDF URL
-
https://arxiv.org/pdf/2409.14910Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://arxiv.org/pdf/2409.14910Direct OA link when available
- Concepts
-
Motion planning, Computer science, Motion (physics), Object (grammar), Mobile manipulator, Artificial intelligence, Computer vision, Mobile robot, RobotTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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