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

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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. ROBOT, 2010, 32(5): 614-621..

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．

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关键词 ：自组装, 自主对接, 基于行为的控制, 自主移动机器人, 对接机构

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.

Key words： self-assembly autonomous docking behavior-based control autonomous mobile robot docking mechanism

收稿日期: 2010-01-29 录用日期: 2010-04-28

TP42

基金资助:国家863计划重点资助项目（2009AA043901）；国家自然科学基金资助项目（60525314）

通讯作者: 魏洪兴 E-mail: weihongxing@buaa.edu.cn

作者简介: 魏洪兴（1974- ），男，博士，副教授．研究领域：模块化机器人与嵌入式系统．
刘森（1980- ），男，博士后．研究领域：机器人软件体系结构与嵌入式系统．
李德忠（1984- ），男，硕士生．嵌入式系统．研究领域：模块化机器人与嵌入式系统．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2010/V32/I5/614

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