Object Transportation by a Multi-Robot Distributed System Using a Compound Architecture
Subject Areas : electrical and computer engineering
T.
Hekmatfar
1
(Tarbiat Modares University)
T.
Hekmatfar
2
(Tarbiat Modares University)
Keywords: Path planning cooperative object transportation multirobot systems coordination cooperation,
Abstract :
This paper addresses the cooperative object transportation by a multi robot distributed system, which is a difficult problem due to path planning and robot cooperation challenges. In this problem, a number of robots should transport an object to a goal point safely while avoiding obstacles and utilizing a proper coordination and cooperation mechanism. The proposed method has a two-layer structure which benefits from both centralized and decentralized architectures. The global level takes advantage of full knowledge of environment to plan an optimal path using the new Optimally-Connect Random Tree (ORT) method, and the local level performs some local processes to reduce the system’s overall processing load and cost and increase its robustness. The required coordination between the robots is realized via radio communication, and for local path planning of the robots a combination of potential fields and TangentBug algorithms has been used. The proposed method has been implemented on multiple KUKA youBot mobile manipulators in the Webots simulation software, and its performance has been evaluated through various experimentations and the results of implementing and comparing the ORT and Rapidly-exploring Random Trees (RRT) showed the advantage of the proposed method.
[1] A. Yamashita, T. Arai, J. Ota, and H. Asama, "Motion planning of multiple mobile robots for cooperative manipulation and transportation," Robotics and Automation, IEEE Trans. on, vol. 19, no. 2, pp. 223-237, Apr. 2003.
[2] G. Weiss, Multiagent Systems: A Modern Approach to Distributed Artificial Intelligence, the MIT Press, 1999.
[3] M. Nemrava and P. Cermak, "Solving the box-pushing problem by master-slave robots," J. of Automation, Mobile Robotics & Intelligent Systems, vol. 2, no. 3, pp. 32-37, 2008.
[4] Z. Wang and V. Kumar, "Object closure and manipulation by multiple cooperating mobile robots," in Proc. 6th Int. Symp. on Distributed Autonomous Robotic Systems, vol. 1, pp. 394-399, 2002.
[5] A. Khozaee, A. H. Aminaiee, and A. Ghaffari, "A swarm robotic approach to distributed object pushing using fuzzy controllers," in Proc. IEEE Int. Conf. on Robotics and Biomimetics, ROBIO'09, pp. 1117-1122, Bangkok, Thailand, 2009.
[6] A. C. Satici and M. W. Spong, "Nonholonomic cooperative manipulation of polygonal objects in the plane," in Proc, IEEE 51st Annual Conf. on Decision and Control, CDC'12, pp. 2439-2446, 10-13 Dec. 2012.
[7] M. Nili Ahmadabadi and E. Nakano, "A 'constrain and move' approach to distributed object manipulation," IEEE Trans. on Robotics and Automation, vol. 17, no. 2, pp. 157-172, Apr. 2001.
[8] M. Eslamy and S. A. A. Moosavian, "Dynamics and cooperative object manipulation control of suspended mobile manipulators," J. of Intelligent & Robotic Systems, vol. 60, no. 2, pp. 181-199, Nov. 2010.
[9] A. Zaerpoora, M. N. Ahmadabadia, M. R. Barunia, and Z. D. Wang, "Distributed object transportation on a desired path based on constrain and move strategy," Robotics and Autonomous Systems, vol. 50, no. 2-3, pp. 115-128, Feb. 2005.
[10] O. Khatib, "Mobile manipulation: the robotic assistant," Robotics and Autonomous Systems, vol. 26, no. 2-3, pp. 175-183, Feb. 1999.
[11] I. Mas and C. Kitts, "Object manipulation using cooperative mobile multi-robot systems," in Proc. of the World Congress on Engineering and Computer Science, vol. 1, pp. 324-329, 2012.
[12] E. Yang and D. Gu, Multiagent Reinforcement Learning for Multi-Robot Systems: A Survey, Department of Computer Science, Univeristy of Essex, Tech. Report, 2004.
[13] Z. Wang, E. Nakano, and T. Matsukawa, "Cooperating multiple behavior-based robots for object manipulation," in Proc. IEEE/RSJ/GI Int. Conf. on Distributed Autonomous Robotic Systems, vol. 3, pp. 371-382, Munich, Germany, 12-16 Sep. 1994.
[14] ع. ا. امینایی، یادگیری همکاری در سیستمهای جابه‌جایی اجسام، پایاننامه دوره کارشناسی ارشد مهندسی رباتیک- دانشکده فنی و مهندسی، دانشگاه تهران، 1385.
[15] آ. زائرپور، طراحی و تحلیل یک پروتکل هماهنگی در یک تیم گسترده رباتیک جهت جابه‌جایی اجسام در یک صفحه دوبعدی، پایاننامه دوره کارشناسی ارشد مهندسی رباتیک- دانشکده فنی و مهندسی، دانشگاه تهران، 1380.
[16] K. Kosuge and T. Oosumi, "Decentralized control of multiple robots handling an object," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol. 1, pp. 318-323, Osaka, Japan, 4-8 Nov. 1996.
[17] J. Spletzer, et al., "Cooperative localization and control for multi-robot manipulation," in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, vol. 2, pp. 631-636, 29 Oct.-3 Nov. 2001.
[18] Z. Wang, Y. Takano, Y. Hirata, and K. Kosuge, "Decentralized cooperative object transportation by multiple mobile robots with a pushing leader," in Distributed Autonomous Robotic Systems 6, Ed: Springer, pp. 453-462, 2007.
[19] R. Gross and M. Dorigo, "Towards group transport by swarms of robots," Int. J. of Bio-Inspired Computation, vol. 1, no. 1-2, pp. 1-13, Jan. 2009.
[20] C. R. Kube and E. Bonabeau, "Cooperative transport by ants and robots," Robotics and Autonomous Systems, vol. 30, no. 1-2, pp. 85-101, Jan. 2000.
[21] H. Frank, N. Wellerdick-Wojtasik, B. Hagebeuker, G. Novak, and S. Mahlknecht, "Throwing objects-a bio-inspired approach for the transportation of parts," in Proc. IEEE Int. Conf. on Robotics and Biomimetics, pp. 91-96, 17-20 Dec. 2006.
[22] K. F. Bohringer, V. Bhatt, and K. Y. Goldberg, "Sensorless manipulation using transverse vibrations of a plate," in Proc. IEEE Int. Conf. on Robotics and Automation, Nagoya, vol. 2, pp. 1989-1996, 21-27 May 1995.
[23] S. Cheon, K. Ryu, and Y. Oh, "Object manipulation using robot arm-hand system," in Proc. 10th Int. Conf. on Ubiquitous Robots and Ambient Intelligence, URAI'13, pp. 163-166, 30 Oct.-2 Nov. 2013.
[24] P. Dzitac and A. M. Mazid, "Factors that influence reliable object manipulation," in Proc. 8th IEEE Conf. on, Industrial Electronics and Applications, ICIEA'13, pp. 1468-1473, 19-21 Jun. 2013. [25] K. Harada, M. Kaneko, and T. Tsuji, "Rolling-based manipulation for multiple objects," in Proc. IEEE Int. Conf. on Robotics and Automation, ICRA'00, vol. 4, pp. 457-468, San Francisco, CA, USA, 24-28 Apr. 2000. [26] A. Saxena, J. Driemeyer, and A. Y. Ng, "Robotic grasping of novel objects using vision," The International J. of Robotics Research, vol. 27, pp. 157-173, 2008. [27] M. J. Mataric, M. Nilsson, and K. Simsarin, "Cooperative multi-robot box-pushing," in Proc. IEEE/RSJ Int. Conf. on, Intelligent Robots and Systems 95.'Human Robot Interaction and Cooperative Robots', vol. ???, pp. 556-561, 5-9 Aug. 1995. [28] Y. Wang and C. W. de Silva, "Multi-robot box-pushing: single-agent q-learning vs. team q-learning," in Proc. IEEE Int. Conf. on Intelligent Robots and Systems, pp. 3694-3699, Beijing, China, 9-15 Oct. 2006. [29] Z. Wang, Y. Hirata, and K. Kosuge, "An algorithm for testing object caging condition by multiple mobile robots," in Proc. IEEE Int. Conf. on Intelligent Robots and Systems, pp. 3022-3027, 2-6 Aug. 2005.
[30] ی. کاتبی، برنامه‌ریزی حرکت و تخصیص کار در سیستمهای چندرباتی، رساله دوره دکتری مهندسی صنایع- صنایع، دانشگاه تربیت مدرس، 1392.
[31] H. M. Choset, Principles of Robot Motion: Theory, Algorithms, and Implementation, the MIT Press, 2005.
[32] V. J. Lumelsky, Sensing, Intelligence, Motion: How Robots and Humans Move in an Unstructured World, John Wiley & Sons, 2005.
[33] J. B. Mbede, X. Huang, and M. Wang, "Fuzzy motion planning among dynamic obstacles using artificial potential fields for robot manipulators," Robotics and Autonomous Systems, vol. 32, no. 1, pp. 61-72, Jul. 2000.