一种带自检功能的自重构机器人运动规划算法  

Cellular Automata Model's Application in Modular Self-Reconfiguration planning

作　　者：纪萃萃[1] 王从庆[1] 

机构地区：[1]南京航空航天大学自动化院,江苏南京210016

出　　处：《计算机测量与控制》2007年第11期1572-1574,共3页Computer Measurement &Control

基　　金：江苏省应用基础研究课题(BJ98057);南京航空航天大学科研创新基金(CX200407)

摘　　要：针对目前模块化自重构机器人集中式运动规划算法的不足,对自重构机器人建立元胞自动机模型,采用分布式算法对自重构机器人的运动进行规划;通过加入了自检和优先级的功能,对分布式算法进行改进,简化了规则,使自重构机器人顺利翻越障碍;仿真实验结果表明,采用改进后的运动规划算法,自重构机器人能成功翻越比自身高的障碍物。Compared with deficient centralized locomotion algorithms , distributed control algorithm is introduced to self-reconfigurable robot＇s locomotion plan. And cellular automata model is set up to modular self-reconfigurable robots in this algorithm. New distributed algorithm which includes priority and self- check function is used to simplify the rules so that self- reconfigurable robot can climb over obstacles smoothly. Simulation results prove that after using the improved locomotion algorithm, robot can climb over obstacle which is higher than the robot itself.

关 键 词：元胞自动机 模块化 自重构机器人 运动规划算法 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]