Abstract
This research considers the topic of cooperative object transportation by multiple carry robots, where the object weight is assumed to exceed the capacity of a single robot. In certain applications, such as warehouses and construction sites, the object may have arbitrary shape, uneven weight distribution, or discontinuous surfaces, such that simple robot formations may not be sufficient to achieve stable transport. A formation optimization method is proposed based on a hybrid genetic algorithm and simulated annealing (GA-SA) approach. Firstly, the weight distribution of the object is transformed into a two-dimensional cell representation. GA-SA is then applied to solve the combinatorial optimization problem of determining the robot formation that maintains stability during transport. The performance and validity of the proposed method is analyzed through simulation.
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