模块化自重构机器人变形算法的仿真研究

自重构机器人是一个由众多模块组成的非线性复杂系统,非线性造成的计算复杂性使得传统的控制算法难以解决机器人的运动和变形规划问题。我们提出了一种全离散变形方法,针对不同的系统和不同的任务建立不同的模块运动规则,再由模块根据局部感知信息和相应的运动规则同步运动来获得合理的运动序列,实现全局变形。这可以大大简化自重构机器人变形的复杂性,简化变形步骤,并且实现自重构机器人的自组织变形。本文建立了仿真平台对几个典型的2维系统的变形算法问题进行了研究和验证。

Simulation Research on the Metamorphic Algorithm of Modular Self-reconfigurable Robots

A self-reconfigurable robot is usually a non-linear complex system composed of a large number of modules. The computational complexity caused by non-linearity makes it difficult to solve the problems of module motion planning and shape-changing control using a traditional algorithm. We proposed a full-discrete metamorphic method. The module action rules are set corresponding to the type of systems and tasks, and all modules concurrently act by the local sensing information and their action rules. As a result, a reasonable motion sequence for modules and the global metamorphosis for robot can be obtained. Therefore, the complexity of metamorphosis is reduced, the metamorphic procedure is simplified, and the self-organizing metamorphosis can be obtained. We developed a simulation program to study and verify the metamorphic algorithms of several typical 2-dimension systems.