Dynamic Path Planning for Multiple Robots Transporting Objects in a Deformable Sheet

摘要

This paper presents the design of a path-planning algorithm for a multi-robot transportation system that uses a deformable sheet to transport and manipulate objects. The algorithm aims to develop a path that navigates around obstacles and considers the size of the transportation system in the planning process. The algorithm employs a polynomial function to represent the path coordinates between the system's current position and the desired destination. The coefficients of the polynomial function are adjusted to satisfy two competing objectives. These objectives are 1) minimizing the path's length and 2) maintaining a minimum safe distance away from obstacles while the system moves along the path. The paper represents the problem as an optimization task whose solution achieves an equilibrium between these two competing objectives. By iteratively solving for the optimal coefficients of the polynomial function, the algorithm dynamically adapts the path to achieve the shortest path length and safe obstacle avoidance. We present simulation results that explain how the path is determined as the robots move toward the destination. Experimental results show the algorithm's use during the transportation and manipulation of a spherical object.