Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots

Bingyi Xia1; Hao Luan2; Ziqi Zhao1; Xuheng Gao1; Peijia Xie1; Anxing Xiao2; Jiankun Wang3; Max Q.-H. Meng1

10.1109/IROS55552.2023.10341508

2023

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

978-1-6654-9191-4

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

8046-8053

1-5 Oct. 2023

Detroit, MI, USA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

Cooperative object transportation using multiple robots has been intensively studied in the control and robotics literature, but most approaches are either only applicable to omnidirectional robots or lack a complete navigation and decision-making framework that operates in real time. This paper presents an autonomous nonholonomic multi-robot system and an end-to-end hierarchical autonomy framework for collaborative luggage trolley transportation. This framework finds kinematic-feasible paths, computes online motion plans, and provides feedback that enables the multi-robot system to handle long lines of luggage trolleys and navigate obstacles and pedestrians while dealing with multiple inherently complex and coupled constraints. We demonstrate the designed collaborative trolley transportation system through practical transportation tasks, and the experiment results reveal their effectiveness and reliability in complex and dynamic environments. (Video(1))

Pedestrians Navigation Decision Making Transportation Collaboration Reliability Engineering Real-time Systems

第一 ; 通讯

英语

EI ; CPCI-S

Shenzhen Key Laboratory of Robotics Perception and Intelligence[ZDSYS20200810171800001] ; National Natural Science Foundation of China[62103181] ; Shenzhen Outstanding Scientific and Technological Innovation Talents Training Project[RCBS20221008093305007]

Computer Science ; Robotics

Computer Science, Artificial Intelligence ; Computer Science, Information Systems ; Computer Science, Theory & Methods ; Robotics

WOS:001136907802046

20240315411834

Decision Making ; Industrial Robots ; Robot Learning

Robotics:731.5 ; Robot Applications:731.6 ; Management:912.2

IEEE

1.Department of Electronic and Electrical Engineering, Shenzhen Key Laboratory of Robotics Perception and Intelligence, Southern University of Science and Technology, Shenzhen, China
2.School of Computing, National University of Singapore, Singapore
3.Jiaxing Research Institute, Southern University of Science and Technology, Jiaxing, China

Bingyi Xia,Hao Luan,Ziqi Zhao,et al. Collaborative Trolley Transportation System with Autonomous Nonholonomic Robots[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:8046-8053.