In this paper, we introduce a multi robot payload transport system to carry payloads through an environment of unknown and uneven inclinations while maintaining the desired orientation of the payload. For this task, we used custom built robots with a linear actuator (pistons) mounted on top of each robot. The system continuously monitors the payload's orientation and computes the required piston height of each robot to maintain the desired orientation of the payload. In this work, we propose an open loop controller coupled with a closed loop PID controller to achieve the goal. As our modelling makes no assumptions on the type of terrain, the system can work on any unknown and uneven terrains and inclinations. We showcase the efficacy of our proposed controller by testing it on various simulated environments with varied and complex terrains.

翻译：本文提出一种多机器人负载运输系统，用于在未知且不平坦的倾斜环境中运输负载，同时保持负载的期望姿态。为实现该任务，我们使用定制机器人，每个机器人顶部安装有线性执行器（活塞）。该系统持续监测负载的姿态，并计算每个机器人所需的活塞高度以维持负载的期望姿态。在本工作中，我们提出一种开环控制器与闭环PID控制器相结合的方法来实现目标。由于我们的建模未对地形类型作任何假设，该系统可适用于任何未知、不平坦的地形与斜坡。通过在多种模拟环境中测试不同复杂度的地形，我们展示了所提出控制器的有效性。