A path planning method for Dynamic Object Closure by using Random Caging Formation Testing

Object manipulation problem by multiple cooperating mobile robots using the concept of object closure is discussed in the paper. It is the condition under which the object is trapped so that there is no feasible path for the object from the given position to any position that is beyond a specified threshold distance during the transportation. We proposed the concept of dynamic object closure for achieving object caging task that robots team is able to cage a moving object after a predefined time interval. In the paper, a method planning caging path and by using random caging formation path determination algorithm (RCFP) is proposed for achieving dynamic object closure. Some planning results are presented for illustrating the validity of the proposed algorithm.