自重构机器人空间重构规划策略研究

摘要

Based on the chain -type self-reconfigurable robots, this paper presents an unlabeled and distributed planning strategy for space reconfiguring, and the configuration expression and physical motion in space are also discussed. Firstly, it uses the topology structure to describe the robots. Then, a coordinate system is established to describe the robots'space state and the reconfiguration theory is expanded to the space motion planning. This method is used to deal with the problems about global detection, control and location in unknown or unstructured environments. At last, it introduces the reconfiguration planning method and shows the simulation experiment result to prove the effectiveness and the feasibility of the theory.%本文基于链式自重构机器人提出了一种无标号、分布式的空间重构规划策略,研究自重构机器人的构型表达和空间重构运动.首先对自重构机器人进行了拓扑的描述,然后建立坐标系,描述整个机器人的空间状态,将重构理论从构型重构拓展到空间运动规划,来处理未知非结构环境下全局检测、控制与定位问题.最后介绍了重构规划的方法,并通过Webots对五个模块的自重构机器人系统变形进行仿真,证明了上述方法的有效性和可行性.