کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Safe Cooperative Control of Non-Holonomic Mobile Manipulators

نویسندگان :

Zahra Kashi¹ Nargess Sadeghzadeh-Nokhodberiz²

1- دانشگاه صنعتی قم 2- دانشگاه صنعتی قم

کلمات کلیدی :

Mobile Manipulator،Obstacle Avoidance،MPC-OCBF،Cooperative Mobile Manipulator

چکیده :

This paper presents a cooperative transportation strategy for decoupled non-holonomic mobile manipulators (NH-MMs) operating in environments with obstacles in which a group of NH-MMs are collaborating to transport an object with as few as possible disrupting while efficiently avoiding obstacles. Toward this, a model predictive control with an optimizable control barrier function (MPC-OCBF) approach is employed to the decoupled dynamics model for task-space end-effectors and null-space mobile bases. The method exploits system redundancy to address both feasible and non-feasible obstacle avoidance scenarios. In the case of feasible scenarios, each NH-MM independently navigates around the obstacle without disrupting the end-effector trajectories. For non-feasible scenarios, coordinated trajectory adjustments of the end-effectors ensure the successful continuation of the cooperative transportation task. The effectiveness of the proposed strategy is validated through simulation results, demonstrating its ability to manage obstacle avoidance while maintaining task performance.

لیست مقالات

لیست مقالات بایگانی شده

مبدل زمان پیوسته سیگما دلتا با پهنای باند 200k-28M مناسب برای گیرنده های باند پایه3G,4G

فائزه جسور قره باغ - مرتضی موسی زاده

On the selection of superspreaders for advertising in science education using a new similarity measure

Sanaz Afsharian - Mohsen Heidari - Heidar Nosratzadeh - Mojgan Khalifeh

Analysis of the DC Bias Effects on the Transformer Vibration Using a Multi-field Coupling Model

Amir Esmaeili Nezhad - Mohammad Hamed Samimi

Multi-physics electromagnetic-mechanical analysis of a high-speed switched reluctance motor for vacuum cleaner application

Nasrin Majlesi - Morteza Saghaian-Nejad - Amir Rashidi

A Hybrid Computer-aided Diagnosis System For Central Obesity Screening In A Large Sample Of Iranian Children and Adolescents

Amirhossein Koochekian - Morteza Farahi - Hamid Reza Sadr manouchehri Naeini - Mohammad Reza Mohebian - Hamid Reza Marateb - Marjan Mansourian - Roya Kelishadi

ارائه یک روش جدید مبتنی بر ترکیب محدب برای مدلسازی اُفت دریچه‌های گاز به‌منظور حل مساله برنامه‌ریزی تولید

حسین شریف زاده

A Boost and Luo Based Non-isolated DC-DC Converter Suitable for DC Link of High Voltage Applications

Ali Meftahpour - Hesam Ehsan - Hossein Gholizadeh - Mohammad Hamed Samimi

A Compact Microstrip Combline Filter for Microwave S-band

Sina Rezaee - Mohammad Memarian

Optimizing Dual IMU Sensor Placement for Gait Phase Detection with LSTM Models

Mahya Abedi - Zolfa Anvari - Hamed Ghafarirad - Mohammad Zareinejad

Low-cost dielectrophoresis-based microfluidic chip for label-free particle separation with 3D electrodes

Fatemeh Esmaeili - Zeynab Alipour - Mehdi Fardmanesh

بیشتر

ثمین همایش، سامانه مدیریت کنفرانس ها و جشنواره ها - نگارش 42.8.0