Cooperative Multi-Robot Object Transportation System Based on Hierarchical Quadratic Programming
نویسندگان
چکیده
Formation control gains significant attention in the multi-robot system field as it contributes to a vast range of applications, such transportation. This letter presents constrained optimization-based law for cooperative logistics mission, which consists rigid shape formation control, group navigation, individual and team obstacle avoidance tasks. These tasks are defined equality inequality constraints with different levels priority. Hierarchical quadratic programming (HQP) approach is used solve optimal solution an inclusion velocity limits ensure implementation feasibility. Experiment using actual industrial robots demonstrated order validate theory.
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ژورنال
عنوان ژورنال: IEEE robotics and automation letters
سال: 2021
ISSN: ['2377-3766']
DOI: https://doi.org/10.1109/lra.2021.3092305