Reconfiguration of modular robotic system - 'MECABOT'

摘要

In this paper reconfiguring modular robot which is called MECABOT show, taking it to form different shapes like: Caterpillar, wheel, snake. The strategy presented is a cooperative structure among the "n" robots with which you want to work and a "supervisor " who manages the activities of robots and handles variables of each robot on the operating environment as are the robot guidance position which must be connected. Making a point to multipoint communication system is achieved that the supervisor robots send the required data to a fuzzy logic algorithm can have a kind of autonomy. These algorithms are embedded on a finite state machine that facilitates the management of activities and when they should be executed, allowing robots to achieve the desired configuration. Using simulation software "Webots" which is a robotic simulation software developed by the Ecole Polytechnique Federale de Lausanne (EPFL), Switzerland by Oliver Michel, an environment where implemented in simplified form the mechanical model of the robot it was created and are able to implement algorithms designed control for the supervisor and robots.