多移动机器人协同搬运技术综述

多移动机器人协同搬运系统是多移动机器人系统的典型应用，在一些特殊场合中具有较强的应用潜力。对此，本文综述了多移动机器人协同搬运的相关技术，总结了国内外的发展状况。针对不同的搬运对象，分析比较了抓取、推拉、锁定3种搬运方案，重点分析了不同搬运方案下的多移动机器人协同搬运策略算法原理以及各自的优缺点；概述了多移动机器人搬运系统中涉及的周边技术，主要包括多移动机器人任务分配、环境感知定位、轨迹规划3个方面；最后对多移动机器人协同搬运技术的研究方向进行了展望。
Cooperative transportation by multiple mobile robots is a typical application of the multi-robot system, and has strong application potential, especially in specific circumstances. In this review, we summarize the range of cooperative transportation technologies and discuss related research progress in China and abroad. With respect to different transportation objectives, we compare three handling schemes, including grab, push, and closure. We then analyze the algorithm principles and respective advantages and disadvantages of each scheme. We introduce the peripheral technologies used in multi-robot transportation systems, including task allocation, environmental perception and location, and motion planning by multiple mobile robots. Finally, we present an overview of the development trend in cooperative transportation technology