دانلود گزارش IEEE DataPort : Multi-Robot Suspended Payload Transport with Spatial Constraints Guided by Feasible Region Construction - 2025
MAT نویسندگان: Shengjie Chen
جزئیات
فرمت: MAT ناشر: IEEE DataPort تاریخ انتشار نسخه الکترونیکی : 12/15/2025
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شابک: 10.21227/57px-xe68
1,499,000 تومان
299,800 تومانبن تخفیف
زمان تحویل: آنی
توضیحات
Multi-robot transport systems demonstrate remarkable flexibility but are often less effective with large objects due tothe challenges of weight and stability. Cable-suspended transport,however, provides a solution specifically designed to overcomethese limitations. This paper integrates the two approachesby designing a cable-suspended formation transport system toaddress the limitations of conventional multi-robot formations inheavy-load transportation. The system must ensure the cablesremain taut while preventing both payload-ground contact andinter-vehicle collisions. This interplay of constraints results in acoupled boundary phenomenon. To address this, we formulatethe problem as a nonlinear program to identify the feasibleregion. Based on this feasible region, a fixed-time convergencecontroller is then designed to achieve formation transport.Finally, experimental results demonstrate the feasibility of thesystem.
1,499,000 تومان
299,800 تومانبن تخفیف
زمان تحویل: آنی