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Autonomous multiple-trolley collection system with nonholonomic robots: Design, control, and implementation
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DOI：10.1002/rob.22395.png)
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Abstract
En 中文
The task of collecting and transporting luggage trolleys in airports, characterized by its complexity within dynamic public environments, presents both an ongoing challenge and a promising opportunity for automated service robots. Previous research has primarily developed on universal platforms with robot arms or focused on handling a single trolley, creating a gap in providing cost-effective and efficient solutions for practical scenarios. In this paper, we propose a low-cost mobile manipulation robot incorporated with an autonomy framework for the collection and transportation of multiple trolleys that can significantly enhance operational efficiency. The method involves a novel design of the mechanical system and a vision-based control strategy. We design a lightweight manipulator and the docking mechanism, optimized for the sequential stacking and transportation of trolleys. On the basis of the Control Lyapunov Function and Control Barrier Function, we propose a vision-based controller with online Quadratic Programming, which improves the docking accuracy. The practical application of our system is demonstrated in real-world scenarios, where it successfully executes the multiple-trolley collection task.
Keywords:
autonomous docking
autonomous trolley collection
car-like object mobile manipulation
nonholonomic robots
vision-based control
Journal
IF:
5.2
Papers:
1.7K
Citations:
6.0K
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