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.