Obstacle-crossing strategy and formation parameters optimization of a multi-tracked-mobile-robot system with a parallel manipulator

Gong, Zhao; Xie, Fugui; Liu, Xin-Jun; Shentu, Shuzhan

doi:10.1016/j.mechmachtheory.2020.103919

Cited by 11 publications

(6 citation statements)

References 20 publications

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“…Although the object was in contact with the ground, the robot team could adjust the standing way of the object by changing the configuration to avoid obstacles. Gong et al installed a parallel mechanism on multi-mobile crawlers to achieve smooth transportation on uneven ground [9]. The robots could climb stairs through crawler chassis, but required additional hardware.…”

Section: A Related Workmentioning

confidence: 99%

Motion Planning of Multi-Robots Object Transport with Deformable Sheet

Liang¹,

Liu²,

Zhang³

et al. 2021

Preprint

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Multi-robot transportation (MRT) is to transport the object to the destination by the cooperation of multiple robots. In the process of object transportation, obstacle avoidance is an indispensable feature. In traditional local planners, obstacles are usually considered insurmountable, so the robot team bypasses the obstacles as a whole. However, many obstacles can be crossed in real situation. Studying the obstacle crossing ability of robot team can improve the efficiency of MRT and increase the planning success rate in complex environment. Inspired by the patient transfer through bed sheet, this paper focuses on the object transportation by multi-mobile robots with deformable sheet. A new local planner with obstacle crossing capability is proposed, which consists of three parts: deformable sheet modeling, formation optimization and local path generation. It can successfully find an obstacle crossing path in complex scenarios where other planners fail. The effectiveness and the versatility of the planner is verified by a case study with three mobile robots in the experiment and a simulation with four robots.

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Section: A Related Workmentioning

confidence: 99%

Motion Planning of Multi-Robots Object Transport with Deformable Sheet

Liang¹,

Liu²,

Zhang³

et al. 2021

Preprint

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“…Liu et al [26] analyzed the step-climbing process and designed a tracked reconfigurable module robot platform to climb steps by adjusting the pitch angle between two adjacent modules. A multirobot system, composed of tracked modules connected by a parallel manipulator capable of carrying a payload is proposed [27].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of an Adaptive Obstacle-Overcoming Tracked Robot with Passive Swing Arms

Li,

Zhang,

et al. 2023

Machines

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This paper presents a novel adaptive tracked robot equipped with passive swing arms for overcoming obstacles. First, the paper introduces the overall composition of the robot and focuses on the adaptive mechanism of the passive swing arms. Second, analyzing the single-step obstacle-overcoming process of the robot reveals the relationship between the obstacle height and the geometric parameters of the passive swing arms, establishing a kinematic model. Then, a dynamic model of the robot’s obstacle-overcoming process is established by simplifying the robot into a crank–slider linkage, and the time range for the robot to overcome obstacles is analyzed. Finally, through virtual simulation and a physical prototype, the feasibility and maneuverability of the robot’s design are verified. These findings demonstrate the potential of the robot in various applications, such as search and rescue missions and homeland security.

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“…The increase in the number of mobile robots and the development of each robot's abilities to perform tasks have increased the ability of robots to perform difficult tasks by collaborating in a coordinated manner (Gong et al, 2020). In recent years, the increase in research on the collaboration of robots in multiple robot systems in a coordinated manner has been remarkable.…”

Section: Introductionmentioning

confidence: 99%

Waypoint-Based Path Tracking Approach For Self-Organized Swarm Robots

Mısır

ÇELİK

Gökrem

2022

IJERAD

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In this paper, a waypoint-based path tracking approach is suggested for the swarm robots to follow the desired path in an organized way. In the study, the applicability of the waypoint-based path tracking on the swarm robots that show flexible and scalable behavior has been demonstrated. To evaluate the proposed path planing approach with regard to scalability and flexibility, simulations have been applied in with/without obstacle arenas with different numbers of robots and according to different lookahead distances. With the proposed approach, each swarm robots exhibit swarm behavior in an organized manner depending on the distance of the lookahead to the path to track in the with / without obstacle arenas.

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Obstacle-crossing strategy and formation parameters optimization of a multi-tracked-mobile-robot system with a parallel manipulator

Cited by 11 publications

References 20 publications

Motion Planning of Multi-Robots Object Transport with Deformable Sheet

Motion Planning of Multi-Robots Object Transport with Deformable Sheet

Design and Analysis of an Adaptive Obstacle-Overcoming Tracked Robot with Passive Swing Arms

Waypoint-Based Path Tracking Approach For Self-Organized Swarm Robots

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