Collaborative Planning for Catching and Transporting Objects in Unstructured Environments

摘要

Multi-robot teams have attracted attention from industry and academia for their ability to perform collaborative tasks in unstructured environments, such as wilderness rescue and collaborative transportation. In this letter, we propose a trajectory planning method for a non-holonomic robotic team with collaboration in unstructured environments. For the adaptive state collaboration of a robot team to catch and transport targets to be rescued using a net, we model the process of catching the falling target with a net in a continuous and differentiable form. This enables the robot team to fully exploit the kinematic potential, thereby adaptively catching the target in an appropriate state. Furthermore, the size safety and topological safety of the net, resulting from the collaborative support of the robots, are guaranteed through geometric constraints. We integrate our algorithm on a car-like robot team and test it in simulations and real-world experiments to validate our performance. Our method is compared to state-of-the-art multi-vehicle trajectory planning methods, demonstrating significant performance in efficiency and trajectory quality.