自重构模块化机器人的自修复算法  

A self-repair algorithm for self-reconfigurable modular robots

作　　者：张鑫[1] 邱昭鹏[1] 费燕琼[1] 

机构地区：[1]上海交通大学机器人研究所,上海200240

出　　处：《高技术通讯》2008年第1期42-46,共5页Chinese High Technology Letters

基　　金：国家自然科学基金(50305021)资助项目

摘　　要：设计了一种三维网格型、同构式新型自重构模块化机器人M-Cubes系统,提出了一种基于故障模块位置的自重构模块化机器人的分布式自修复方法。此方法适用于网格型自重构机器人,能够实现对任意位置的故障模块的自修复,有效地解决故障模块处于机器人结构内部时自修复过程运算复杂的棘手问题,优化自修复过程中的运动路径。最后对模块的自修复任务进行了仿真,验证了该方法的可行性和有效性。A novel, lattice self-reconfigurable modular robot called M-Cubes, which is three dimensional and homogeneous, was proposed. A distributed self-repair algorithm based on the location of the failed lattice self-reconfigurable module was presented. The algorithm can be used to solve the self-repair problem of most three dimensional lattice self-reconfigurable modular robots. The robot can use this method to repair itself wherever the failed module is. The method can effectively solve the computationally difficult problem when the failed module is inside the system by optimizing the motion path during the self-repair process. A computer simulation verified the feasibility and effectiveness of this self-repair algorithm.

关 键 词：模块化机器人 自重构 自修复 分布式算法 运动路径 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP242.6[自动化与计算机技术—控制科学与工程]