Low-Complexity Cooperative Payload Transportation for Nonholonomic Mobile Robots Under Scalable Constraints
Fuente:
arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2025
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866915160563646464 |
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| author | Guan, Renhe Wang, Yuanzhe Liu, Tao Wang, Yan |
| author_facet | Guan, Renhe Wang, Yuanzhe Liu, Tao Wang, Yan |
| contents | Cooperative transportation, a key aspect of logistics
cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed
control methods consume less time, but poorly handle and extend
to multiple constraints. Instead, optimization-based methods
handle constraints effectively, but they are usually centralized,
time-consuming and thus not easily scalable to numerous robots.
To overcome drawbacks of both, we propose a novel cooperative
transportation method for nonholonomic mobile robots by im proving conventional formation control, which is distributed, has
a low time-complexity and accommodates scalable constraints.
The proposed control-based method is testified on a cable suspended payload and divided into two parts, including robot
trajectory generation and trajectory tracking. Unlike most time consuming trajectory generation methods, ours can generate
trajectories with only constant time-complexity, needless of global
maps. As for trajectory tracking, our control-based method not
only scales easily to multiple constraints as those optimization based methods, but reduces their time-complexity from poly nomial to linear. Simulations and experiments can verify the
feasibility of our method. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2502_13366 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Low-Complexity Cooperative Payload Transportation for Nonholonomic Mobile Robots Under Scalable Constraints Guan, Renhe Wang, Yuanzhe Liu, Tao Wang, Yan Robotics Systems and Control Cooperative transportation, a key aspect of logistics cyber-physical systems (CPS), is typically approached using dis tributed control and optimization-based methods. The distributed control methods consume less time, but poorly handle and extend to multiple constraints. Instead, optimization-based methods handle constraints effectively, but they are usually centralized, time-consuming and thus not easily scalable to numerous robots. To overcome drawbacks of both, we propose a novel cooperative transportation method for nonholonomic mobile robots by im proving conventional formation control, which is distributed, has a low time-complexity and accommodates scalable constraints. The proposed control-based method is testified on a cable suspended payload and divided into two parts, including robot trajectory generation and trajectory tracking. Unlike most time consuming trajectory generation methods, ours can generate trajectories with only constant time-complexity, needless of global maps. As for trajectory tracking, our control-based method not only scales easily to multiple constraints as those optimization based methods, but reduces their time-complexity from poly nomial to linear. Simulations and experiments can verify the feasibility of our method. |
| title | Low-Complexity Cooperative Payload Transportation for Nonholonomic Mobile Robots Under Scalable Constraints |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2502.13366 |