具有机器人替换的松耦合有效载荷运输系统
Loosely Coupled Payload Transport System with Robot Replacement
摘要：
在这项工作中，我们提出了一个机器人更换算法，以增加多机器人有效载荷运输系统的操作时间。我们的系统包括一组非完整轮式移动机器人遍历一个已知的轨迹。我们设计了一个多机器人系统与松散耦合的机器人，确保系统持续时间远远长于单个机器人的电池寿命。提出了一种系统级优化方法，以确定系统中每个机器人的运行状态（充电或放电）。充电状态意味着机器人不在编队中并且保持充电，而放电状态意味着机器人是编队的一部分。机器人电池充电集线器沿着轨迹存在。编队中的机器人可以使用替换机构在这些枢纽位置处被带电机器人替换。我们展示了所提出的调度框架的有效性，通过模拟和实验与真正的机器人。
英文摘要：
In this work, we present an algorithm for robot replacement to increase the operational time of a multi-robot payload transport system. Our system comprises a group of nonholonomic wheeled mobile robots traversing on a known trajectory. We design a multi-robot system with loosely coupled robots that ensures the system lasts much longer than the battery life of an individual robot. A system level optimization is presented, to decide on the operational state (charging or discharging) of each robot in the system. The charging state implies that the robot is not in a formation and is kept on charge whereas the discharging state implies that the robot is a part of the formation. Robot battery recharge hubs are present along the trajectory. Robots in the formation can be replaced at these hub locations with charged robots using a replacement mechanism. We showcase the efficacy of the proposed scheduling framework through simulations and experiments with real robots.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
