Configuration analysis and self-assembly control for modular swarm robots

被引：0
|
作者：
Wei H. [1 ]
Wang T. [1 ]
机构：
[1] School of Mechanical Engineering and Automation, Beihang University
来源：
Jixie Gongcheng Xuebao/Journal of Mechanical Engineering | 2010年 / 46卷 / 13期
关键词：
Distributed control; Modular robot; Self-assembly; Swarm robotics;
D O I：
10.3901/JME.2010.13.100
中图分类号：
学科分类号：
摘要：
Inspired by the swarm behaviors of the social insects, the self-assembly provides an effective behavioral paradigm for collaboration of the swarm robots. Based on the Sambot platform, a distributed self-assembly control algorithm for a given robotic structures is presented. A configuration connection state table is used to represent the configuration of the robotic structures formed by multiple Sambots. A distributed self-assembly control model is proposed. There are three types of Sambots, i.e. SEED, connecting and docking Sambots. The SEED and connecting Sambots are used to decide the self-assembly rules and control the growth of the configuration. Docking Sambots, without any target configuration and global coordinate information, adopt behavior-based controller to realize autonomous docking with SEED and connecting Sambots. Five Sambots are used to successfully demonstrate the self-assembly experiments of snakelike and quadruped configurations, which verifies the effectiveness of the control algorithm. © Journal of Mechanical Engineering.
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页码：100 / 108
页数：8
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