自重构机器人重构运动规划策略研究  

Research on reconfigurable motion planning strategy of self-reconfigurable robot

作　　者：任宗伟[1] 庞明[2] 朱延河[3] 

机构地区：[1]哈尔滨商业大学管理学院,黑龙江哈尔滨150001 [2]哈尔滨商业大学轻工学院,黑龙江哈尔滨150028 [3]哈尔滨工业大学机器人研究所,黑龙江哈尔滨150001

出　　处：《华中科技大学学报（自然科学版）》2011年第4期10-14,共5页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：国家高技术研究发展计划资助项目(2006AA04Z220);国家自然科学基金资助项目(60705027);黑龙江省教育厅资助项目(11551107)

摘　　要：通过自重构机器人模块间的连接、断开和运动顺序规划,由风车形晶胞群组成的机器人构形具备通过重构实现质心变化的功能.此种运动方式与特定构形的整体协调运动存在本质区别,为了实现质心的改变,当设计运动规划策略时需要综合考虑机器人的运动路径及模块间的连接、断开和运动顺序.针对运动平面内存在障碍物这一情况,采用启发快速扩展随机树搜索方法对由风车形晶胞群组成的机器人构形的运动路径进行了规划.机器人的每一步运动利用内置的固定运动序列库实现.实验证明了启发快速扩展随机树搜索方法的高效性及可行性.In the process of planning the sequence of self-reconfigurable robot′s module connecting, disconnecting and rotating, it was found that the robot configuration made of four windmill-like crystal cell groups （WLCCG） could realize transferring of centroid by means of reconfigurable moving function. This motion mode is essentially different from whole coordinated motion of specific configuration. In order to realize transferring of centroid, motion planning strategy should include planning moving path and the sequence of module connecting, disconnecting and rotating. When there were obstacles on a moving plane, the algorithm of heuristics rapidly-exploring random tree was used in planning the moving path of robot composed of WLCCGs. The actions of robot were realized by fixed motion sequence database. Finally, the high effectiveness and feasibility of heuristics rapidly-exploring random tree were varified by experiment

关 键 词：自重构机器人 风车形晶胞群 重构运动 运动规划 启发快速扩展随机树 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]