TY - JOUR
T1 - Distributed formation and motion control in multiple mobile manipulator transportation
T2 - 37th Chinese Control Conference, CCC 2018
AU - Kai, Shixiong
AU - Fang, Hao
AU - Wu, Chu
AU - Zeng, Xianlin
AU - Yang, Qingkai
N1 - Publisher Copyright:
© 2018 Technical Committee on Control Theory, Chinese Association of Automation.
PY - 2018
Y1 - 2018
N2 - This paper considers the problem of distributed cooperative control of multiple mobile manipulators to transport an object. A novel distributed energy optimization framework is proposed to design the distributed cooperative control. Energy optimization of manipulators and mobile platforms is used to construct the objective function. Distributed formation requirements of end-effectors and mobile platforms are treated as constraints. The practical physical constraints of angular velocity and linear velocity are written as constraint sets. The solution of the proposed optimization problem can control the multiple mobile manipulators to achieve the motion planning and cooperation goals. A convergent optimization algorithm is designed to solve the proposed optimization problem. The simulation validates the efficacy of the proposed optimization design and optimization algorithm.
AB - This paper considers the problem of distributed cooperative control of multiple mobile manipulators to transport an object. A novel distributed energy optimization framework is proposed to design the distributed cooperative control. Energy optimization of manipulators and mobile platforms is used to construct the objective function. Distributed formation requirements of end-effectors and mobile platforms are treated as constraints. The practical physical constraints of angular velocity and linear velocity are written as constraint sets. The solution of the proposed optimization problem can control the multiple mobile manipulators to achieve the motion planning and cooperation goals. A convergent optimization algorithm is designed to solve the proposed optimization problem. The simulation validates the efficacy of the proposed optimization design and optimization algorithm.
KW - Distributed Optimization
KW - Formation Control
KW - Motion Planning
KW - Multiple Redundant Mobile Manipulators
UR - http://www.scopus.com/inward/record.url?scp=85062770461&partnerID=8YFLogxK
U2 - 10.23919/ChiCC.2018.8484143
DO - 10.23919/ChiCC.2018.8484143
M3 - Conference article
AN - SCOPUS:85062770461
SN - 1934-1768
VL - 2018-January
SP - 1179
EP - 1184
JO - Chinese Control Conference, CCC
JF - Chinese Control Conference, CCC
M1 - 8484143
Y2 - 25 July 2018 through 27 July 2018
ER -