Parametric Planning for Multiple Cooperative Robots

  • Authors:

  • Honghai Liu;David J. Brown;Hui Li

  • Affiliations:

  • Computer Intelligence & Application Group, Faculty of Technology, University of Portsmouth, Portsmouth, UK PO1 3HE;Computer Intelligence & Application Group, Faculty of Technology, University of Portsmouth, Portsmouth, UK PO1 3HE;Faculty of Business, Computing and Information Management, London South Bank University, London, UK SE1 0AA

  • Venue:
  • Journal of Intelligent and Robotic Systems
  • Year:
  • 2005

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Abstract

A novel planning strategy, parametric planning, is proposed to negotiate the task-oriented object manipulation of multiple coordinated robots. The approach provides an advantage to improve flexibility of robotic cooperation, in which the desired trajectories in Cartesian space derived from task requirements are converted into the trajectories of robots in joint space for a fixed-coordinated multi-robot system. For this purpose, a parametric cooperative index matrix is introduced to handle the relationship of the input desired Cartesian trajectories and the position of robots. A case study of 2-dimension object-motion trajectory tracking using four robots is presented in the end. It proved that the proposed approach effectively delivers trajectory task requirements to the joint trajectories of robots.