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Title: Planning coordinated motions for tethered planar mobile robots
Authors: Zhang, Xu
Pham, Quang-Cuong
Keywords: Engineering::Mechanical engineering::Robots
Issue Date: 2019
Source: Zhang, X., & Pham, Q.-C. (2019). Planning coordinated motions for tethered planar mobile robots. Robotics and Autonomous Systems, 118, 189-203. doi:10.1016/j.robot.2019.05.008
Journal: Robotics and Autonomous Systems
Abstract: This paper considers the motion planning problem for multiple tethered planar mobile robots. Each robot is attached to a fixed base by a flexible cable. Since the robots share a common workspace, the interactions amongst the robots, cables, and obstacles pose significant difficulties for planning. Previous works have studied the problem of detecting whether a target cable configuration is intersecting (or entangled). Here, we are interested in the motion planning problem: how to plan and coordinate the robot motions to realize a given non-intersecting target cable configuration. We identify four possible modes of motion, depending on whether (i) the robots move in straight lines or following their cable lines; (ii) the robots move sequentially or concurrently. We present an in-depth analysis of Straight/Concurrent, which is the most practically-interesting mode of motion. In particular, we propose algorithms that (a) detect whether a given target cable configuration is realizable by a Straight/Concurrent motion, and (b) return a valid coordinated motion plan. The algorithms are analyzed in detail and validated in simulations and in a hardware experiment.
ISSN: 0921-8890
DOI: 10.1016/j.robot.2019.05.008
Rights: © 2019 Elsevier B.V. All rights reserved. This paper was published in Robotics and Autonomous Systems and is made available with permission of Elsevier B.V.
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:MAE Journal Articles

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