In this paper we address the multi-agent collaborative object transportation problem in a partially known environment with obstacles under a specified goal condition. We propose a leader follower approach for two mobile manipulators collaboratively transporting an object along specified desired trajectories. The proposed approach treats the mobile manipulation system as two independent subsystems: a mobile platform and a manipulator arm and uses their kinematics model for trajectory tracking. In this work we considered that the mobile platform is subject to non-holonomic constraints, with a manipulator carrying a rigid load. The desired trajectories of the end points of the load are obtained from Probabilistic RoadMap-based planning approach. Our method combines Proportional Navigation Guidance-based approach with a proposed Stop-and-Sync algorithm to reach sufficiently close to the desired trajectory, the deviation due to the non-holonomic constraints is compensated by the manipulator arm. A leader follower approach for computing inverse kinematics solution for the position of the end-effector of the manipulator arm is proposed to maintain the load rigidity. Further, we compare the proposed approach with other approaches to analyse the efficacy of our algorithm.

翻译：本文研究了在部分已知环境中存在障碍物且满足特定目标条件下的多智能体协作物体运输问题。我们提出了一种用于两台移动机械臂沿指定期望轨迹协作运输物体的领导者-跟随者方法。该方法将移动操作系统视为两个独立子系统：移动平台和机械臂，并利用其运动学模型进行轨迹跟踪。在本研究中，我们考虑移动平台受非完整约束，且机械臂携带刚性负载。负载端点期望轨迹基于概率路图规划方法获得。我们的方法将比例导航制导方法与所提出的"停止-同步"算法相结合，以充分接近期望轨迹，由非完整约束引起的偏差通过机械臂进行补偿。为保持负载刚性，提出了一种用于计算机械臂末端执行器位置逆运动学解的领导者-跟随者方法。最后，我们将所提方法与其他方法进行比较，以分析算法的有效性。