自重构机器人协作功能的规划与实现  

Programming and Realization of Collaboration Functions of Self-reconfigurable Robots

作　　者：姚俊武[1] 

机构地区：[1]黄石理工学院,湖北黄石435003

出　　处：《黄石理工学院学报》2010年第5期1-4,8,共5页Journal of Huangshi Institute of Technology

摘　　要：自重构机器人是一组具有重构功能的自主微小型机器人团队,具有较强的灵活性和隐蔽性,在军事侦察、灾情救助、空间作业等场合具有广阔的应用前景。因单个机器人的环境信息感知能力、越障能力等都较差,使微小型机器人的应用受到了很大制约。通过自重构机器人协作决策、协作定位、地形侦察、重构与越障等协作功能的规划并实现,有效地增强机器人系统适应动态环境的能力,提高多机器人系统的整体性能,拓展了机器人的应用领域。Self - reeonfigurable robots are a miniature robot team having self - reconfiguration capabilities, strong flexibility and concealment, which has broad application prospects in military reconnaissance, disaster relief , space operations and other occasions. But a single robot has poor perception capacity of environmental information and obstacle capability, so that the application of miniature robot has been greatly restricted. By the programming arid realization of such collaboration functions as collaborative decision, collaborative positioning, terrain reconnaissance, remodeling and obstacle capability,we can effectively enhance the robot system＇s ability to adapt to dynamic environment, improve the overall performance of multi -robot systems, and expand the robot＇s applications.

关 键 词：自重构机器人 协作 定位 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]