Study of cable obstacle avoidance planning of a multi-robot collaborative towing system

In order to solve the problem of ignoring the cable and only planning the trajectory of the lifted object and the robot ends, a planning scheme of a multi-robot collaborative towing system aiming at the cable obstacle avoidance motion planning was proposed. The univariate polynomial equation group of the cable was obtained by constructing the cable sweep equation and defining the implicit equation of the obstacle. Then, the point-to-point decomposition trajectory was planned for the initial trajectory of the lifted object in the variable cable length workspace. And the differential manifold and manifold tangent space theories were used to plan the predicted trajectory of the lifted object. Based on the system dynamics characteristics, the tangent vector selection of the predicted trajectory was determined. Finally, the three-level planning strategy with the lifted object as the planning object, the end of robot as the planning intermediate, and the cable obstacle avoidance as the planning purpose was finally realized.