Cooperative task planning of multi-robot systems with temporal constraints

被引:8
作者
Lian, FL [1 ]
Murray, R [1 ]
机构
[1] Natl Taiwan Univ, Taipei 106, Taiwan
来源
2003 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-3, PROCEEDINGS | 2003年
关键词
D O I
10.1109/ROBOT.2003.1241969
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
This paper discusses a design methodology of cooperative trajectory generation for multi-robot systems. The trajectory of achieving cooperative tasks, i.e., with temporal constraints, is constructed by a nonlinear trajectory generation (NTG) algorithm. Three scenarios of multi-robot tasking are proposed at the cooperative task planning framework. The NTG algorithm is, then, used to generate real-time trajectory for desired robot activities. Given robot dynamics and constraints, the NTG algorithm first finds trajectory curves in a lower dimensional space and parameterizes the curves by a set of B-spline representations. The coefficients of the B-splines are further solved by sequential quadratic programming to satisfy the optimization objectives and constraints. The NTG algorithm has been implemented to generate real-time trajectories for a group of cooperative robots in the presence of spatial and temporal constraints. Finally, an illustrated example of cooperative task planning with temporal constraints is presented.
引用
收藏
页码:2504 / 2509
页数:6
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