Three-Dimensional Trajectory Planning for Multi-robot Collaboration in Complex Components with Heterogeneous Materials

被引：0

作者：

Wang, Xinyu ^{[1
,2
]}

Wu, Yueyu ^{[3
]}

Zhang, Gong ^{[2
,3
]}

Qi, Jianzheng ^{[4
]}

Wang, Heyu ^{[3
,4
]}

Di, Si ^{[3
]}

Lin, Qunxu ^{[5
]}

机构：

[1] Southern Univ Sci & Technol, Shenzhen, Peoples R China

[2] Chinese Acad Sci, Shenzhen Inst Adv Technol, Shenzhen, Peoples R China

[3] Guangzhou Inst Adv Technol, Guangzhou, Peoples R China

[4] Fujian Univ Technol, Fuzhou, Peoples R China

[5] Wuyi Univ, Jiangmen, Peoples R China

来源：

2023 3RD INTERNATIONAL CONFERENCE ON ROBOTICS, AUTOMATION AND ARTIFICIAL INTELLIGENCE, RAAI 2023 | 2023年

基金：

中国国家自然科学基金;

关键词：

multi-robot; 3D complex trajectory; trajectory planning; robotics simulator CoppeliaSim;

D O I：

10.1109/ISSE61612.2024.10601199

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A multi-robot collaboration can reliably perform complex tasks that would be difficult for a single robot to accomplish, especially advanced welding operations in complex components with heterogeneous materials. We focused on a three-dimensional (3D) trajectory planning for complex components with heterogeneous materials, and carries out the research of multi-robot collaboration. By using the software of robot simulator CoppeliaSim, the comparative simulation analysis of multi-robot active-slave and distributed in 3D intersecting line was proposed. Through the establishment of multi-robot collaborative experiment system, the trajectory planning of multi-robot axial motion with semi-8 was put forward. Simulation and experimental results show that our proposed multi-robot system is feasible and is capable of realizing 3D trajectory planning for complex components with heterogeneous materials.

引用

页码：134 / 138

页数：5

共 13 条

[1] Daokui Qv, 1991, Robotics, V13, P6
[2] Gan Yahui, 2020, Applied Sciences, V9, P1
[3] Online Trajectory Generation With Distributed Model Predictive Control for Multi-Robot Motion Planning
Luis, Carlos E.
Vukosavljev, Marijan
Schoellig, Angela P.
[J]. IEEE ROBOTICS AND AUTOMATION LETTERS, 2020, 5 (02) : 604 - 611
[4] Contribution to the path planning of a multi-robot system: centralized architecture
Matoui, Fethi
Boussaid, Boumedyen
Metoui, Brahim
Abdelkrim, Mohamed Naceur
[J]. INTELLIGENT SERVICE ROBOTICS, 2020, 13 (01) : 147 - 158
[5] Oh J.H., 2015, International Journal of Mechanical Engineering and Robotics Research, V4, P264
[6] Wang Jian, 2021, Modern Manufacturing Engineering, V1, P21
[7] Removal of Dibutyl Phthalate and Its Effects on Bacterial Communities in Lab-scale Constructed Wetlands
Wang, Xiaohui
Yang, Jingdan
Du, Shuai
Yuan, Yuan
Zhu, Minghan
Li, Yuan
Zhu, Xiaobiao
[J]. JOURNAL OF ENVIRONMENTAL ACCOUNTING AND MANAGEMENT, 2019, 7 (01) : 1 - 10
[8] Double global optimum genetic algorithm-particle swarm optimization-based welding robot path planning
Wang, Xuewu
Shi, Yingpan
Ding, Dongyan
Gu, Xingsheng
[J]. ENGINEERING OPTIMIZATION, 2016, 48 (02) : 299 - 316
[9] [吴明晖 Wu Minghui], 2018, [焊接学报, Transactions of the China Welding Institution], V39, P113
[10] Deep Reinforcement Learning With Optimized Reward Functions for Robotic Trajectory Planning
Xie, Jiexin
Shao, Zhenzhou
Li, Yue
Guan, Yong
Tan, Jindong
[J]. IEEE ACCESS, 2019, 7 : 105669 - 105679

← 1 2 →