论文标题
多个移动操纵器的协调,以订购混乱对象的排序
Coordination of multiple mobile manipulators for ordered sorting of cluttered objects
论文作者
论文摘要
我们提出了一种协调方法,供多个移动操纵器在混乱中分类对象。我们考虑必须按特定顺序将对象分类为不同组的对象重排问题。在混乱中,由于某些对象遮住了其他对象,因此闭塞的对象无法直接访问机器人。这些对象需要不止一次移动其他对象才能使遮挡对象访问。这样的重排问题属于非单调重排问题的类别,这些问题在计算上是棘手的。虽然非单调限制问题的问题更难,但涉及多个机器人需要另一个计算任务分配的计算。提出的方法首先找到了使用搜索来对对象进行排序的顺序,以便满足每个组中的顺序约束。搜索可以解决需要某些对象的时间重置以访问要排序的下一个对象的非单调实例。找到完整的排序序列后,使用贪婪的分配方法将序列中的对象分配给多个移动操纵器。我们开发了具有不同搜索策略的方法的四个版本。在实验中,我们表明我们的方法可以快速找到分类序列(例如4.6秒,将20个对象分为五组),即使求解的实例包括硬无单极酮。模拟中的广泛测试和实验表明,该方法使用多个移动操纵器解决现实世界分类问题的能力。
We present a coordination method for multiple mobile manipulators to sort objects in clutter. We consider the object rearrangement problem in which the objects must be sorted into different groups in a particular order. In clutter, the order constraints could not be easily satisfied since some objects occlude other objects so the occluded ones are not directly accessible to the robots. Those objects occluding others need to be moved more than once to make the occluded objects accessible. Such rearrangement problems fall into the class of nonmonotone rearrangement problems which are computationally intractable. While the nonmonotone problems with order constraints are harder, involving with multiple robots requires another computation for task allocation. The proposed method first finds a sequence of objects to be sorted using a search such that the order constraint in each group is satisfied. The search can solve nonmonotone instances that require temporal relocation of some objects to access the next object to be sorted. Once a complete sorting sequence is found, the objects in the sequence are assigned to multiple mobile manipulators using a greedy allocation method. We develop four versions of the method with different search strategies. In the experiments, we show that our method can find a sorting sequence quickly (e.g., 4.6 sec with 20 objects sorted into five groups) even though the solved instances include hard nonmonotone ones. The extensive tests and the experiments in simulation show the ability of the method to solve the real-world sorting problem using multiple mobile manipulators.