A framework for kinematic and dynamic motion planning for a formation of mobile robots

Thomas Sugar, Jaydev P. Desai

Research output: Contribution to journalArticle

Abstract

We present a modeling framework which combines kinematic and dynamic aspects of a motion planning task. This paper presents the control algorithms for multiple mobile manipulators cooperatively grasping and transporting an object. The planning and control tasks are decentralized, and the framework explicitly incorporates the protocols used to coordinate the robots in the team. The framework is flexible in the sense that it scales with the number of robots and controllers. The problems of: a) motion planning (kinematic) and b) force sensing (dynamic) for a formation of mobile manipulators are decoupled. A graph theoretic approach coordinates the motion planning for the robots while stiffness matrices describe the grasping of an object. Experimental results for a team of robots are presented, and simulation results are used to illustrate the extensions of our approach to a larger team formation of robots.

Original languageEnglish (US)
Pages (from-to)307-322
Number of pages16
JournalIntelligent Automation and Soft Computing
Volume10
Issue number4
StatePublished - 2004

Fingerprint

Motion Planning
Motion planning
Mobile Robot
Mobile robots
Kinematics
Robot
Robots
Mobile Manipulator
Grasping
Manipulators
Stiffness matrix
Stiffness Matrix
Decentralized
Control Algorithm
Sensing
Planning
Framework
Controller
Controllers
Experimental Results

Keywords

  • Coordination of multiple robots
  • Formation
  • Mobile manipulator
  • Motion planning

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Artificial Intelligence

Cite this

A framework for kinematic and dynamic motion planning for a formation of mobile robots. / Sugar, Thomas; Desai, Jaydev P.

In: Intelligent Automation and Soft Computing, Vol. 10, No. 4, 2004, p. 307-322.

Research output: Contribution to journalArticle

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