Analysis of the interaction of robots in decentralized multi-robot system for transport tasks during start of the movement
Michał Siwek
Faculty of Mechatronics and Aerospace Military University of Technology in WarsawJarosław Panasiuk
Faculty of Mechatronics and Aerospace Military University of Technology in WarsawLeszek Baranowski
Faculty of Mechatronics and Aerospace Military University of Technology in WarsawAbstract
The article analyzes the influence of control signal delays on the initiation of movement in a distributed group of robots and the implementation of the robots’ programmed trajectory. A static analysis was carried out in a distributed group of robots, where the applied constraint was the connection of the robots to a transport pallet. The loads resulting from delayed transmission of the control signal were subjected to a dynamic analysis in MSC Adams View software.
Keywords:
Mobile robot, decentralized multi-robot system, time delays, robotization of transportReferences
AUTEFAGE V., CHAUMETTE S., MAGONI D. 2015. Comparison of time synchronization Techniques in a distributed collaborative swarm system. Proceedings of the IEEE 24th European Conference on Networks and Communications (EuCNC), p. 455-459. Google Scholar
Autonomiczne mobilne roboty w transporcie wewnętrznym to technologia na miarę przemysłu 4.0. 2018. Control Engineering Polska. Robotyka. Roboty mobilne. https://www.controlengineering.pl/autonomiczne-mobilne-roboty-w-transporcie-wewnetrznym-to-technologia-na-miare-przemyslu-4-0, access: 21.03.2019. Google Scholar
CHENG C., YU X.Y., OU L.L., GUO Y.K. 2016. Research on multi-robot collaborative transportation control system. Proceedings of the Control and Decision Conference, p. 4886–4891. Google Scholar
JURCZAK M. 2018. Logistyka i przemysł 4.0 w praktyce. Roboty transportowe skracają czas produkcji. TransInfo Polska. Transport. https://trans.info/pl/logistyka-4-0-roboty-transportowe-skracają-czas-produkcji-85274, access: 21.03.2019. Google Scholar
KACZMAREK W., BESSEGHIEUR K., PANASIUK P., PRUSACZYK P., SIWEK M. 2018. Industrial and ROS-enabled mobile robots’ cooperation, Proceedings of 24th International Conference of Engineering Mechanics, p. 349-352. Google Scholar
SIWEK M., BARANOWSKI L., PANASIUK J., KACZMAREK W., BESSEGHIEUR K. 2018a. The effect of control signals time delays on the trajectory of a dispersed group of robots. Proceedings of 24th International Conference of Engineering Mechanics, p. 757-760. Google Scholar
SIWEK M., BESSEGHIEUR K., BARANOWSKI L. 2018b. The effect of the swarm configuration and the obstacles placement on control signals transmission delays in decentralized ROS-embedded group of mobile robots. AIP Conference Proceedings of 14th International Conference Mechatronic Systems and Materials, 2029(1): 020069, https://doi.org/10.1063/1.5066531. Google Scholar
TAN K., LEWIS M.A. 1996. Virtual Structures for High-Precision Cooperative Mobile Robotic Control. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Japan, p. 132–139. Google Scholar
Faculty of Mechatronics and Aerospace Military University of Technology in Warsaw
Faculty of Mechatronics and Aerospace Military University of Technology in Warsaw
Faculty of Mechatronics and Aerospace Military University of Technology in Warsaw
