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arXiv · 2305.01614

On the Collaborative Object Transportation Using Leader Follower Approach

Sumanta Ghosh·Subhajit Nath·Sarvesh Sortee·Lokesh Kumar·Titas Bera
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Abstract

In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators collaboratively transporting an object along specified desired trajectories. The proposed approach treats the mobile manipulation system as two independent subsystems: a mobile platform and a manipulator arm and uses their kinematics model for trajectory tracking. In this work we considered that the mobile platform is subject to non-holonomic constraints, with a manipulator carrying a rigid load. The desired trajectories of the end points of the load are obtained from Probabilistic RoadMap-based planning approach. Our method combines Proportional Navigation Guidance-based approach with a proposed Stop-and-Sync algorithm to reach sufficiently close to the desired trajectory, the deviation due to the non-holonomic constraints is compensated by the manipulator arm. A leader follower approach for computing inverse kinematics solution for the position of the end-effector of the manipulator arm is proposed to maintain the load rigidity. Further, we compare the proposed approach with other approaches to analyse the efficacy of our algorithm.

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Sumanta Ghosh, Subhajit Nath, Sarvesh Sortee, Lokesh Kumar, Titas Bera. 2023-05-02. On the Collaborative Object Transportation Using Leader Follower Approach. https://arxiv.org/abs/2305.01614

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