A practical collision-free trajectory planning for two robot systems

2002 ◽  
Author(s):  
Jihong Lee ◽  
Heon Seong Nam ◽  
Joon Lyou
Keyword(s):  
Trajectory Planning ◽  
Robot Systems

scholarly journals 3D Trajectory Planning Method for UAVs Swarm in Building Emergencies

Sensors ◽  
2020 ◽  
Vol 20 (3) ◽  
pp. 642 ◽  
Author(s):  
Ángel Madridano ◽  
Abdulla Al-Kaff ◽  
David Martín ◽  
and Arturo de la de la Escalera
Keyword(s):  
Emergency Response ◽  
Trajectory Planning ◽  
Essential Elements ◽  
Urban Environments ◽  
Robot Operating System ◽  
Probabilistic Roadmaps ◽  
Scalable Systems ◽  
Robot Systems ◽  
Response Team ◽  
And Control

The development in Multi-Robot Systems (MRS) has become one of the most exploited fields of research in robotics in recent years. This is due to the robustness and versatility they present to effectively undertake a set of tasks autonomously. One of the essential elements for several vehicles, in this case, Unmanned Aerial Vehicles (UAVs), to perform tasks autonomously and cooperatively is trajectory planning, which is necessary to guarantee the safe and collision-free movement of the different vehicles. This document includes the planning of multiple trajectories for a swarm of UAVs based on 3D Probabilistic Roadmaps (PRM). This swarm is capable of reaching different locations of interest in different cases (labeled and unlabeled), supporting of an Emergency Response Team (ERT) in emergencies in urban environments. In addition, an architecture based on Robot Operating System (ROS) is presented to allow the simulation and integration of the methods developed in a UAV swarm. This architecture allows the communications with the MavLink protocol and control via the Pixhawk autopilot, for a quick and easy implementation in real UAVs. The proposed method was validated by experiments simulating building emergences. Finally, the obtained results show that methods based on probability roadmaps create effective solutions in terms of calculation time in the case of scalable systems in different situations along with their integration into a versatile framework such as ROS.

scholarly journals Multi-Robot Trajectory Planning and Position/Force Coordination Control in Complex Welding Tasks

2019 ◽  
Vol 9 (5) ◽  
pp. 924 ◽  
Author(s):  
Yahui Gan ◽  
Jinjun Duan ◽  
Ming Chen ◽  
Xianzhong Dai
Keyword(s):  
Trajectory Planning ◽  
Cooperative Control ◽  
Impedance Control ◽  
Welding Process ◽  
Coordination Control ◽  
Control Approach ◽  
Force Coordination ◽  
Force Tracking ◽  
Robot Systems ◽  
Multi Robot

In this paper, the trajectory planning and position/force coordination control of multi-robot systems during the welding process are discussed. Trajectory planning is the basis of the position/ force cooperative control, an object-oriented hierarchical planning control strategy is adopted firstly, which has the ability to solve the problem of complex coordinate transformation, welding process requirement and constraints, etc. Furthermore, a new symmetrical internal and external adaptive variable impedance control is proposed for position/force tracking of multi-robot cooperative manipulators. Based on this control approach, the multi-robot cooperative manipulator is able to track a dynamic desired force and compensate for the unknown trajectory deviations, which result from external disturbances and calibration errors. In the end, the developed control scheme is experimentally tested on a multi-robot setup which is composed of three ESTUN industrial manipulators by welding a pipe-contact-pipe object. The simulations and experimental results are strongly proved that the proposed approach can finish the welding task smoothly and achieve a good position/force tracking performance.

Minimum cost, fixed time trajectory planning in robot manipulators. A suboptimal solution

Robotica ◽  
1997 ◽  
Vol 15 (5) ◽  
pp. 555-562 ◽  
Author(s):  
Ignacy Duleba
Keyword(s):  
Trajectory Planning ◽  
Robot Manipulators ◽  
Minimum Cost ◽  
Fixed Time ◽  
Free Time ◽  
Planning Problem ◽  
Optimal Cost ◽  
Robot Systems ◽  
Time Optimal ◽  
Suboptimal Solution

In this paper the minimum cost trajectory planning problem with fixed time in robot manipulators is considered. The task is solved by transforming the problem to a set of free right-end time optimal problems, leading to a suboptimal solution. Each problem of the optimal cost trajectory planning with a free time is effectively solved by the method of minimal neighbourhood. An algorithm for the task of suboptimal cost trajectory planning with fixed time is presented and applied to the model of a PUMA-like robot. Results of the paper seem to be of particular relevance to the optimization of multi-robot systems.

Trajectory planning for multi-robot systems: Methods and applications

2021 ◽  
Vol 173 ◽  
pp. 114660
Author(s):  
Ángel Madridano ◽  
Abdulla Al-Kaff ◽  
David Martín ◽  
Arturo de la Escalera
Keyword(s):  
Trajectory Planning ◽  
Robot Systems ◽  
Multi Robot

Implementation of open-architecture kinematic controller for articulated robots under ROS

2018 ◽  
Vol 45 (2) ◽  
pp. 244-254 ◽  
Author(s):  
Yongzhuo Gao ◽  
Zhijiang Du ◽  
Xueshan Gao ◽  
Yanyu Su ◽  
Yu Mu ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Low Cost ◽  
Experimental Studies ◽  
Open Architecture ◽  
Content Type ◽  
Robot Systems ◽  
Short Run ◽  
Articulated Robot ◽  
Articulated Robots ◽  
Program Interface

Purpose This paper aims to present an open-architecture kinematic controller, which was developed for articulated robots, facing the demands of various applications and low cost on robot system. Design/methodology/approach A general approach to develop this controller is described in hardware and software design. The hardware consists of embedded boards and programable multi-axes controller (PMAC), connected with ethernet, and the software is implemented on a robot operating system with MoveIt!. The authors also developed a teach pendant running as a LAN node to provide a human–machine interface (HMI). Findings The proposed approach was applied to several real articulated robot systems and was proved to be effective and portable. The proposed controller was compared with several similar systems to verify its integrality and flexibility. The openness of this controller was discussed and is summarized at the end of this paper. Practical implications The proposed approach provided an open and low-complex solution for experimental studies in the lab and short-run production in small workshops. Originality/value Several contributions are made by the research. The actuation model and communication were implemented to integrate the trajectory planning module and PMAC for setting up the physical interface. Method and program interface based on kinematics was provided to generate various interpolations for trajectory planning. A teach pedant with HMI was developed for controlling and programing the robot.

Sign in / Sign up

Export Citation Format

Share Document