超楕円ポテンシャルを用いた仮想バネ手法による長尺物の全方向協調搬送

抄録

Robots can be expected to make our work efficient by covering transportation tasks in factories and warehouses. However, it is not easy to transport a long object in a narrow space. In previous research, an omnidirectional cooperative transportation system was developed to transport a long-sized object with two lift-up robots. Then, an obstacle avoidance method was implemented with a virtual spring method when passing through a narrow space, so as to realize transportation even though some uncertainties are included in the prior map and localization. However, it did not consider the shape of the object to be transported in a model of the repulsion from the obstacle. In this research, an obstacle avoidance method at the narrow space is proposed by approximating the shape of the object to be transported with a hyperellipsoid and by modelling the repulsion from the object with hyperelliptic potential. The usefulness of the proposed method is confirmed through some simulations in which two robots are coordinated to transport a rectangular object at the narrow space.