Abstract
Problem statement: in a lot applications it is emerging to perform a joint transportation task of a load by a group of robots. In order to implement target trajectory of a load it is necessary to ensure coordination of motion of robots—members of a group. Moving an object by a large number of mobile robots requires information about the geometrical center of the object. However there may occur a situation that various robots—members of a group will be in contact with different types of soil. This will affect resulting transportation trajectory of a load and must be considered during motion planning and control. Purpose of research: moving through cross-country a mobile robot meets different types of the ground. That changes different ground-wheel’s interaction parameters such as width and height of a wheel’s tire, pressure in the contact area, the resistance coefficient, the track depth and magnitude of wheel’s bending. In order to move a load according to desired trajectory corresponding changes should be done to motion control signal to SEMS-based group of robots considering with which type of soil robot—member of a group is in contact each specific moment. Results: Paper presents the calculated nomograms for determining the influence of soil and external forces on the robot’s parameters and the passability depending on the soil. The simulation of the given parameters is performed. Simulation results allow creating control algorithms for mobile robots to provide joint transportation task. Also in order to solve problems arising during the movement of robots in the group there was proposed a new type of propulsion type wheel with a variable geometry. Each wheel is capable of changing its configuration at the critical changes of the wheel’s attachment with the ground. Practical significance: the robot control technique and the control for a group of robots with a wheels moving on the terrain with different traction properties of the soil are discussed. These methods use correction by applying feedback force (at rigid hitch) or feedback on the deviation of the point of attachment of the load from the nominal (at non-rigid hitch) within SEMS-based system. In this paper we present some simulation results that can be used to control a group of robots, considering target trajectory, type of load, load distribution among agents, type of terrain and specifics of soil.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Sreenath, K., Kumar, V.: Dynamics, control and planning for cooperative manipulation of payloads suspended by cables from multiple quadrotor robots. In: Robotics: Science and Systems (RSS) (2013)
Brumitt, B.L., Stentz, A.: GRAMMAPS: a generalized mission planner for multiple robots in unstructured environments. In: IEEE International Conference on Robotics and Automation, vol. 2, pp. 1564–1571. Leuven, Belgium, 16–20 May 1998
Yamaguchi, H.: A cooperative hunting behavior by mobile robot troops. In: IEEE International Conference on Robotics and Automation, vol. 4, pp. 3204–3209. Leuven, Belgium, 16–20 May 1998
Wang, Z., Schwager, M.: Kinematic multi-robot manipulation with no communication using force feedback. In: International Conference on Robotics and Automation (ICRA). Stockholm, Sweden (2016)
Alonso-Mora, J., Knepper, R., Siegwart, R., Daniela, R.: Local motion planning for collaborative multi-robot manipulation of deformable objects. In: International Conference on Robotics and Automation (ICRA). Washington State Convention Center Seattle, Washington (2015)
Borenstein, J.: The omnimate: a guidewire- and beacon-free AGV for highly reconfigurable applications. Int. J. Prod. Res. 38(9), 1993–2010 (2000)
Amanatiadis, A., Henschel, C., Birkicht, B., Andel, B., Charalampous, K., Kostavelis, I., May, R., Gasteratos, A.: Avert: an autonomous multi-robot system for vehicle extraction and transportation. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), pp. 1662–1669, 26–30 May 2015
Lokhin, V.M., Man’ko, S.V., Romanov, M.P.: Development of technologies of application of the theory of automatic control of multi-agent robotic systems. Rob. Tech. Cybern. 2(11), 3–7 (2016)
Mikhailov, B.B., Nazarova, A.V., Yushchenko, A.S.: Autonomous mobile robot navigation. Proc. South. Fed. Univ. Tech. Sci. 2(175), 48–67 (2016)
Kulinich, A.A.: Swarm algorithms of formation and functioning for groups of robots. In: Congress on Intelligent and Information Technologies IS & IT’ 16. Proceedings of the Congress on Intellectual Systems and Information Technologies AIS-IT’ 16, vol. 1, pp. 301–310. SFEDU, Taganrog (2016)
Karpov, V.E.: Patterns of social behavior in group robotics. Large Syst Control (59), 165–232. IPU RAS, Moscow (2016)
Vorob’ev, V.V., Moscowsky, A.D.: The algorithm for choosing the leader in the systems with changing topology. In: The Fifteenth National Conference on Artificial Intelligence with International Participation (CAI-2016), pp. 149–157 (2016)
Karpov, V., Migalev, A., Moscowsky, A., Rovbo, M., Vorobiev, V.: Multirobot exploration and mapping based on the subdefinite models. In: The 1st International Conference on Interactive Collaborative Robotics, pp. 143–152 (2016)
Shchegoleva, L.V., Zhukov, A.V.: The problem of gathering a group of mobile robots. Mod. Sci. Res. Innov. № 8 (2016). http://web.snauka.ru/issues/2016/08/70249
Arkhipkin, A.V., Kopchenkov, V.I., Korolkov, D.N., Petrov, V.F., Simonov, S.B., Terent’ev, A.I.: The problem of group control of robots in a robotic fire complex. In: Proceedings of SPIIRAS, issue 45, pp. 116–129 (2016)
Ermolov, I.L.: Hierarchical data fusion architecture for unmanned vehicles. In: Smart Electromechanical Systems: The Central Nervous System. Springer
Gradetsky, V., Ermolov, I., Knyazkov, M., Lapin, B., Semenov, E., Sobolnikov, S., Sukhanov, A., Ronzhin, A., Shishlakov, V.: Highly passable propulsive device for UGVs on rugged terrain. MATEC Web of Conferences vol. 161, p. 03013 (2018)
Parker, L.E.: Current state of the art in distributed autonomous mobile robotics. In: Distributed Autonomous Robotic System, vol. 4, pp. 3–12. Springer, Tokyo, Japan (2000)
Groß, R., Dorigo, M.: Group transport of an object to a target that only some group members may sense. In: 8th International Conference, Birmingham, UK, 18–22 September 2004. Proceedings, Parallel Problem Solving from Nature—PPSN VIII Volume 3242 of the Series Lecture Notes in Computer Science, pp 852–861
Acknowledgements
This research was supported by a grant №16-29-04199 from Russian Fund of Fundamental Research.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this chapter
Cite this chapter
Gradetsky, V.G., Ermolov, I.L., Knyazkov, M.M., Semenov, E.A., Sobolnikov, S.A., Sukhanov, A.N. (2019). Implementation of a Joint Transport Task by a Group of Robots. In: Gorodetskiy, A., Tarasova, I. (eds) Smart Electromechanical Systems. Studies in Systems, Decision and Control, vol 174. Springer, Cham. https://doi.org/10.1007/978-3-319-99759-9_17
Download citation
DOI: https://doi.org/10.1007/978-3-319-99759-9_17
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-99758-2
Online ISBN: 978-3-319-99759-9
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)