地面移动机器人 rendezvous 和 docking 以实现高效运输系统
Rendezvous and Docking of Mobile Ground Robots for Efficient Transportation Systems
AI总结：
本文提出了一种基于MPC的方法，使移动机器人在任意初始位置实现运动中物理耦合，提升物流效率。
摘要：
在运动中实现多个移动地面机器人的物理耦合有潜力开启新的应用，如在运动中转移，从而提高货物处理和转移的效率，解决当前物流中的挑战。关键挑战在于实现两个移动地面机器人在任意初始位置下可靠自主的在运动中物理耦合。现有方法忽略了对接接口的建模和接近策略，导致无法控制的碰撞，使在运动中物理耦合要么不可能要么低效。为解决这一挑战，我们提出了一种中央MPC方法，明确建模两个 omnidirectional 轮式机器人的动态和状态，纳入其对接接口相关的约束，并实施 rendezvous 和 docking 的接近策略。这种新方法使具有对接接口的 omnidirectional 轮式机器人能够无论初始位置如何在运动中进行物理耦合。此外，它使在运动中转移成为可能，这在物流场景中比非耦合方法更节省时间21.04%和能量21.04%。
英文摘要：
In-Motion physical coupling of multiple mobile ground robots has the potential to enable new applications like in-motion transfer that improves efficiency in handling and transferring goods, which tackles current challenges in logistics. A key challenge lies in achieving reliable autonomous in-motion physical coupling of two mobile ground robots starting at any initial position. Existing approaches neglect the modeling of the docking interface and the strategy for approaching it, resulting in uncontrolled collisions that make in-motion physical coupling either impossible or inefficient. To address this challenge, we propose a central mpc approach that explicitly models the dynamics and states of two omnidirectional wheeled robots, incorporates constraints related to their docking interface, and implements an approaching strategy for rendezvous and docking. This novel approach enables omnidirectional wheeled robots with a docking interface to physically couple in motion regardless of their initial position. In addition, it makes in-motion transfer possible, which is 19.75% more time- and 21.04% energy-efficient compared to a non-coupling approach in a logistic scenario.
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。
