基于几何特征的自重构模块机器人自修复算法  

A Self-Repair Algorithm for Self-Reconfigurable Modular Robots Based on Geometrical Characteristics

作　　者：张鑫[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：《上海交通大学学报》2008年第7期1159-1162,共4页Journal of Shanghai Jiaotong University

基　　金：国家自然科学基金资助项目(50305021;50775145);上海市自然科学基金资助项目(07ZR14050)

摘　　要：基于网格型的自重构模块机器人,研究了一种基于几何特征分布式自重构机器人的自修复算法.它用广度和深度优先算法搜索有效的运动路径,将故障模块转移到系统构型边界处释放,并用备用模块取代.分析了该算法实现任意位置故障模块的自修复过程,并优化了自修复过程中的模块运动路径.仿真结果表明,对于三维网格型的自重构机器人,该自修复算法是可行和有效的.For the lattice-type self-reconfigurable modular robot, a distributed self-repair algorithm based on the geometrical characteristics was presented. The algorithm applies breadth-first search and depth first search to find locomotion path by which the bad module is ejected and replaced by an extra module. The algorithm can be used to take on the self-repair task of most lattice-type modular robots. It is effective to solve the difficult computation problem. The simulation shows the feasibility and effectiveness of this selfrepair algorithm.

关 键 词：模块化机器人 自重构 自修复 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]