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首页> 外文会议>Mechatronics and its Applications, 2009. ISMA '09 >Morphology for planar hexagonal modular self-reconfigurable robotic systems
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Morphology for planar hexagonal modular self-reconfigurable robotic systems

机译：平面六角形模块化自重构机器人系统的形态

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摘要

This paper addresses the construction of a reconfiguration path planner for a planar hexagonal modular self-reconfigurable robotic system (MSRRS). A reconfiguration path planner is developed to determine the required sequence of individual module movements that transforms the shape of the system from an arbitrary initial configuration to a desired goal configuration in an optimal manner while enforcing several constraints and taking into account the kinematic model of the system. In this work, the path planner is designed to minimize the number of module movements during the reconfiguration while enforcing collision avoidance and connectivity constraints. The algorithmic design is based on a hierarchical multilayer approach, where upper layers decompose the problem into sub-problems solvable by lower layers. Each layer is dedicated to perform a specific task; therefore, the complete algorithm provides openness, flexibility and ease of modification or adaptation for other platforms. The core of the algorithm relies on a heuristic function and a Markov decision process (MDP) optimization to generate a near-optimal reconfiguration path planner and a control algorithm for HexBot shown in Figure 1, a lattice, homogenous, rigid, planar hexagonal MSRRS (Sadjadi et al., 2009).
机译：本文介绍了用于平面六边形模块化自重配置机器人系统（MSRRS）的重配置路径规划器的构造。开发了一个重新配置路径规划器，以确定各个模块移动的所需顺序，该顺序将系统的形状以最佳方式从任意初始配置转换为所需目标配置，同时强制执行多个约束并考虑到系统的运动模型。在这项工作中，路径规划器旨在在重新配置期间最小化模块移动的数量，同时加强冲突避免和连接性约束。算法设计基于分层的多层方法，其中上层将问题分解为可由下层解决的子问题。每个层专用于执行特定任务；因此，完整的算法为其他平台提供了开放性，灵活性和易于修改或适应性。该算法的核心依靠启发式函数和马尔可夫决策过程（MDP）优化来生成接近最优的重构路径规划器和图1所示的HexBot控制算法，即网格，均质，刚性，平面六边形MSRRS（ Sadjadi et al。，2009）。

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