魏洪兴, 刘淼, 李德忠, 王田苗. 一种新的自组装模块化群体机器人——对接机构设计与自组装控制[J]. 机器人, 2010, 32(5): 614-621.
引用本文: 魏洪兴, 刘淼, 李德忠, 王田苗. 一种新的自组装模块化群体机器人——对接机构设计与自组装控制[J]. 机器人, 2010, 32(5): 614-621.
WEI Hongxing, LIU Miao, LI Dezhong, WANG Tianmiao. A Novel Self-assembly Modular Swarm Robot:Docking Mechanism Design and Self-assembly Control[J]. ROBOT, 2010, 32(5): 614-621.
Citation: WEI Hongxing, LIU Miao, LI Dezhong, WANG Tianmiao. A Novel Self-assembly Modular Swarm Robot:Docking Mechanism Design and Self-assembly Control[J]. ROBOT, 2010, 32(5): 614-621.

一种新的自组装模块化群体机器人——对接机构设计与自组装控制

A Novel Self-assembly Modular Swarm Robot:Docking Mechanism Design and Self-assembly Control

  • 摘要: 基于新型自组装模块化群体机器人Sambot,研究并实现了多个机器人之间的自主对接与自组装控制.首先,提出了一种由对接卡扣与对接卡槽组成的新型对接机构,它可以使多个Sambot在一定对接偏差范围内,从前、后、左、右4个方向同时进行对接;其次,采用基于行为的控制方法,仅依赖机器人自身红外传感器的局部感知和通信能力,实现了对接机器人寻找目标、导航和自主对接等自组装行为;最后,成功完成了两个Sambot的自主对接与自组装控制实验.实验结果表明,本文提出的自组装控制方法可以直接扩展到多个Sambot的情形,来构建任意构型的集合体机器人.

     

    Abstract: Based on the Sambot(self-assembly modular swarm robot),the autonomous docking and self-assembly among multiple robots are studied and realized.First of all,a novel docking mechanism composed of a pair of active docking hooks and four docking grooves is proposed,which can dock a Sambot with other Sambots from four directions(front,back, left and right) within a certain range of misalignment.Second,the behavior based control method is adopted,and the self-assembly behaviors of the docking Sambot are accomplished by means of limited perception and local communication of its own infrared sensors,including the Search-goal,Navigation,Autonomous Docking behaviors.Finally,the experiments of autonomous docking and self-assembly are conducted with two Sambots.The experimental results show that the self-assembly control algorithms can be applied directly to the case of multiple Sambots to form an ensemble robot with arbitrary configurations.

     

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