Full Text:   <2153>

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CLC number: TP242.6

On-line Access: 2023-05-06

Received: 2022-04-19

Revision Accepted: 2023-05-06

Crosschecked: 2022-12-31

Cited: 0

Clicked: 1300

Citations:  Bibtex RefMan EndNote GB/T7714


Zichao XING


Weimin WU


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Frontiers of Information Technology & Electronic Engineering  2023 Vol.24 No.4 P.521-535


A novel motion coordination method for variable-sized multi-mobile robots

Author(s):  Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU

Affiliation(s):  State Key Laboratory of Industrial Control Technology, Institute of Cyber-Systems and Control, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   zcxing@zju.edu.cn, wmwu@iipc.zju.edu.cn

Key Words:  Multi-mobile robot system, Collision avoidance, Deadlock avoidance, Glued nodes, Motion coordination

Zichao XING, Xingkai WANG, Shuo WANG, Weimin WU, Ruifen HU. A novel motion coordination method for variable-sized multi-mobile robots[J]. Frontiers of Information Technology & Electronic Engineering, 2023, 24(4): 521-535.

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journal="Frontiers of Information Technology & Electronic Engineering",
publisher="Zhejiang University Press & Springer",

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%I Zhejiang University Press & Springer
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T1 - A novel motion coordination method for variable-sized multi-mobile robots
A1 - Zichao XING
A1 - Xingkai WANG
A1 - Shuo WANG
A1 - Weimin WU
A1 - Ruifen HU
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 24
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PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.2200160

multi-mobile robot systems (MMRSs) are widely used for transportation in industrial scenes such as manufacturing and warehousing. In an MMRS, motion coordination is important as collisions and deadlocks may lead to losses or system stagnation. However, in some scenarios, robot sizes are different when loaded and unloaded, which means that the robots are variable-sized, making motion coordination more difficult. The methods based on zone control need to first divide the environment into disjoint zones, and then allocate the zones statically or dynamically for motion coordination. The zone-control-based methods are not accurate enough for variable-sized multi-mobile robots and reduce the efficiency of the system. This paper describes a motion coordination method based on glued nodes, which can dynamically avoid collisions and deadlocks according to the roadmap structure and the real-time paths of robots. Dynamic features make this method directly applicable to various scenarios, instead of dividing a roadmap into disjoint zones. The proposed method has been applied to many industrial projects, and this study is based on some manufacturing projects for experiments. Theoretical analysis and experimental results show that the proposed algorithm is effective and efficient.




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