The Auto-adapted Path Planning Research for a Shape-shifting Robot

摘要

@@A shape-shifting robot with diverse configurations,named“AMOEBA-I” has been developed for searchand rescue tasks.The accessibility of this robot to uneven environment was efficiently enlarged bychanging its configuration.In this paper,after introducing simply the potential field method,we presentan auto-adapted path planning method for the AMOEBA-I,that integrates the reconfigurable ability ofthe robot into the potential field law.The unique accessibility of the AMOEBA-I is thus fully displayed,while the modified potential field method is applied to solve effectively the local minimum problem.Theconcept of the visibility field is introduced to reduce the computational complexity for improving thereal-time quality index,it has been validated through experimental results that the robot can change itsown configurations to perform the auto-adapted path planning corresponding to the environmentalvariation.As a result,the length of the path has been reduced successfully and effectively.