Autonomous Alignment and Docking Control for a Self-Reconfigurable Modular Mobile Robotic System

被引：1

作者：

Feng, Shumin ^{[1
]}

Liu, Yujiong ^{[1
]}

Pressgrove, Isaac ^{[1
]}

Ben-Tzvi, Pinhas ^{[1
]}

机构：

[1] Virginia Tech, Dept Mech Engn, Blacksburg, VA 24060 USA

来源：

ROBOTICS | 2024年 / 13卷 / 05期

基金：

美国国家科学基金会;

关键词：

modular self-reconfigurable robotic system; mobile robot stabilization; switching kinematics; trajectory optimization; CURVATURE; PLATFORM; DESIGN;

D O I：

10.3390/robotics13050081

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper presents the path planning and motion control of a self-reconfigurable mobile robot system, focusing on module-to-module autonomous docking and alignment tasks. STORM, which stands for Self-configurable and Transformable Omni-Directional Robotic Modules, features a unique mode-switching ability and novel docking mechanism design. This enables the modules that make up STORM to dock with each other and form a variety configurations in or to perform a large array of tasks. The path planning and motion control presented here consists of two parallel schemes. A Lyapunov function-based precision controller is proposed to align the target docking mechanisms in a small range of the target position. Then, an optimization-based path planning algorithm is proposed to help find the fastest path and determine when to switch its locomotion mode in a much larger range. Both numerical simulations and real-world experiments were carried out to validate these proposed controllers.

引用

页数：17