A path planning method for Dynamic Object Closure by using Random Caging Formation Testing

Object manipulation problem by multiple cooperating mobile robots using the concept of object closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified t...

Full description

Saved in:
Bibliographic Details
Published in2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 5923 - 5929
Main Authors ZhiDong Wang, Matsumoto, H., Hirata, Y., Kosuge, K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2009
Subjects
Cooperative Object Handling
Dynamic Caging
Dynamic Object Closure
Force control
Humans
Intelligent robots
Manipulator dynamics
Mobile robots
Path planning
Robot control
Robot kinematics
Testing
Transportation
Online AccessGet full text

Cover

More Information
Summary:Object manipulation problem by multiple cooperating mobile robots using the concept of object closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance during the transportation. We proposed the concept of dynamic object closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using random caging formation path determination algorithm (RCFP) is proposed for achieving dynamic object closure. Some planning results are presented for illustrating the validity of the proposed algorithm.
ISBN:9781424438037
1424438039
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2009.5353999