| Title | A divide-and-conquer control strategy with decentralized control barrier function for luggage trolley transportation by collaborative robots |
| Author | |
| Corresponding Author | Wang，Jiankun |
| Publication Years | 2023
|
| DOI | |
| Source Title | |
| ISSN | 0263-5747
|
| EISSN | 1469-8668
|
| Volume | 41Issue:11 |
| Abstract | This article focuses on the luggage trolley transportation problem, an essential part of robotic autonomous luggage trolley collection. To efficiently address the nonholonomic constraints derived from the formation of two collaborative robots and a queue of luggage trolleys, we propose a comprehensive framework consisting of a global planning method and a real-time divide-and-conquer control strategy. The popular Hybrid A∗ algorithm generates a feasible path as the global planner. A model predictive controller is designed to track this path stably and in real time. To maintain the formation so that the whole queue of robots and luggage trolleys does not split, a safety filter that consists of a discrete-time control Lyapunov function and a decentralized control barrier function is implemented in the transportation process. Finally, we conduct real-world experiments to verify the effectiveness of the proposed method on three representative paths, and the results show that our approach can achieve robust performance. The demonstration video can be found at https://www.youtube.com/watch?v=iPiT8BfLIpU. |
| Keywords | |
| URL | [Source Record] |
| Indexed By | |
| Language | English
|
| SUSTech Authorship | First
; Corresponding
|
| Funding Project | Shen Zhen Key Laboratory of Robotic Perception and Intelligence[ZDSYS20200810171800001]
; National Natural Science Foundation of China[62103181]
; Shenzhen Outstanding Scientific and Technological Innovation Talents Training Project[RCBS20221008093305007]
|
| WOS Research Area | Robotics
|
| WOS Subject | Robotics
|
| WOS Accession No | WOS:001049806600001
|
| Publisher | |
| ESI Research Field | ENGINEERING
|
| Scopus EID | 2-s2.0-85168994968
|
| Data Source | Scopus
|
| Citation statistics |
Cited Times [WOS]:0
|
| Document Type | Journal Article |
| Identifier | http://kc.sustech.edu.cn/handle/2SGJ60CL/560110 |
| Department | Department of Electrical and Electronic Engineering |
| Affiliation | 1.Shenzhen Key Laboratory of Robotics Perception and Intelligence,Department of Electronic and Electrical Engineering,Southern University of Science and Technology,Shenzhen,China 2.Jiaxing Research Institute,Southern University of Science and Technology,Jiaxing,China |
| First Author Affilication | Department of Electrical and Electronic Engineering |
| Corresponding Author Affilication | Department of Electrical and Electronic Engineering; Southern University of Science and Technology |
| First Author's First Affilication | Department of Electrical and Electronic Engineering |
| Recommended Citation GB/T 7714 |
Gao，Xuheng,Luan，Hao,Xia，Bingyi,et al. A divide-and-conquer control strategy with decentralized control barrier function for luggage trolley transportation by collaborative robots[J]. Robotica,2023,41(11).
|
| APA |
Gao，Xuheng,Luan，Hao,Xia，Bingyi,Zhao，Ziqi,Wang，Jiankun,&Meng，Max Q.H..(2023).A divide-and-conquer control strategy with decentralized control barrier function for luggage trolley transportation by collaborative robots.Robotica,41(11).
|
| MLA |
Gao，Xuheng,et al."A divide-and-conquer control strategy with decentralized control barrier function for luggage trolley transportation by collaborative robots".Robotica 41.11(2023).
|
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