自重构微型移动机器人红外定位与对接

摘要

自动对接一直被认为是自重构机器人领域内最具有挑战性的一个研究难点,是其区别于可重构机器人的重要特征.文中给出了一种简单的基于红外传感的对接方法,用于自重构微型移动机器人.设计了由1个红外接收器和4个红外发射器组成的红外定位系统.通过采用红外集中对准和动态路径规划的控制方法,使微机器人之间的自动对接具有很高的效率和可靠性.通过两个微机器人之间的对接实验,验证了该方法的可行性.%Automatic connection is always considered as one of the most challenging research problems in self-reconfigurable robotic field,and it is also the important feature different from reconfigurable robot. This paper presented a simple autonomous connection method based on infrared sensors for mobile self-reconfigurable microrobot. The IR location system composed of a IR receiver and four IR emitters was designed. The automatic connection control method based on centering alignment and dynamic motion planning was adopted so that it has high efficiency and reliability. Two basic microrobot prototypes were developed, and related connection experiments between them were done to verify the feasibility of the approach.