基于强化学习的模块机器人故障自修复方法  

Fault self-repair method of modular robot based on reinforcement learning algorithm

作　　者：管恩广 王尧[1] 曹家彬 赵言正 Guan Enguang;Wang Yao;Cao Jiabin;Zhao Yanzheng(Logistics Engineering College,Shanghai Maritime University,Shanghai 201306,China;School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海海事大学物流工程学院,上海201306 [2]上海交通大学机械与动力工程学院,上海200240

出　　处：《中国民航大学学报》2023年第1期53-57,64,共6页Journal of Civil Aviation University of China

基　　金：国家自然科学基金青年科学基金项目(61806124)

摘　　要：针对晶格式模块机器人的鲁棒性设计问题,提出一种基于强化学习算法的故障自修复方法。该方法将系统内以空位填充为目标的自修复过程转化为以包含空位的子群模块运动为手段的系统自重构过程。同时,基于强化学习算法提出一种离散方式下的空位移动路径规划,并按此引导空位在系统内穿行。仿真试验结果表明,该故障自修复方法的有效性在晶格式模块机器人系统上得到了验证,且可广泛应用于其他同构模块机器人系统。A fault self-repair method based on reinforcement learning algorithm is proposed for the robust design issue of lattice modular robot.The method transforms the self-repair process with the goal of filling empty spaces into a self-reconfiguration process by means of the movements of meta-modules containing empty nodes.Based on the reinforcement learning algorithm,a discrete path planning for the movement of empty nodes is proposed,and the empty nodes are accordingly guided to travel through the system.The simulation test results show that the effectiveness of this fault self-repair method is verified on the lattice modular robotic system and can be widely applied to other isomorphic modular robotic systems.

关 键 词：模块机器人 自重构 强化学习算法 故障自修复 

分 类 号：TH113.22[机械工程—机械设计及理论]