This work proposes a kinodynamic motion planning technique for collaborative object transportation by multiple mobile manipulators in dynamic environments. A global path planner computes a linear piecewise path from start to goal. A novel algorithm detects the narrow regions between the static obstacles and aids in defining the obstacle-free region to enhance the feasibility of the global path. We then formulate a local online motion planning technique for trajectory generation that minimizes the control efforts in a receding horizon manner. It plans the trajectory for finite time horizons, considering the kinodynamic constraints and the static and dynamic obstacles. The planning technique jointly plans for the mobile bases and the arms to utilize the locomotion capability of the mobile base and the manipulation capability of the arm efficiently. We use a convex cone approach to avoid self-collision of the formation by modifying the mobile manipulators admissible state without imposing additional constraints. Numerical simulations and hardware experiments showcase the efficiency of the proposed approach.

翻译：本文提出了一种用于动态环境中多移动机械臂协同物体搬运的动力学运动规划技术。全局路径规划器计算从起点到目标的线性分段路径。一种新颖算法检测静态障碍物之间的狭窄区域，并辅助定义无障碍区域以提升全局路径的可行性。随后，我们构建了一种局部在线运动规划技术用于轨迹生成，以前瞻方式最小化控制能耗。该技术在有限时间范围内规划轨迹，同时考虑动力学约束以及静态与动态障碍物。规划技术联合规划移动底盘与机械臂的运动，以高效利用移动底盘的移动能力与机械臂的操作能力。通过采用凸锥方法修改移动机械臂的允许状态以避免编队自碰撞，而无需施加额外约束。数值仿真与硬件实验验证了所提方法的有效性。