基于拓扑结构的自重构模块化机器人重构策略的研究

The study of reconfiguration strategy for self-reconfigurable modular robot based on topological structure

为实现模块化机器人的高效控制与对接,在基于有向图的图论拓扑描述和连接矩阵的数学拓扑描述基础上,提出了一种新型的自重构机器人模块拓扑描述综合矩阵,它能准确的表达了机器人模块的连接方式和转角状态信息;利用综合矩阵可以找到构型的根节点,并以根节点为起点利用DFS(Depth-First-Search)得到初始构型与目标构型新的综合矩阵.并对两矩阵进行对比进而得出同构部分与重构部分.按照重构策略仅对重构部分进行重构得到目标构型.减少了参与重构的模块的数量并提高了重构效率,最后利用webots软件对模块化机器人进行仿真来验证重构策略的有效性和可行性.

In order to facilitate the implementation of control and docking about modular robot,proposing a new type of selfreconfigurable modular robot topology description matrix which based on the description to the graph topology and connection matrix topology description. It can accurately express the connection and rotation state information of robot module;it can find the root node configuration by using matrix,taking the root node as a starting point by using DFS（Depth-First-Search）to get the initial structure and configuration of new synthetic matrix and the two matrix are compared to homogeneous parts and reconstruction are determined. In accordance with the reconstruction strategy only for the modules need to be reconstructed to obtain the target configuration. It is not only can reduce the number of participating in reconstruction modules but also improve the efficiency of reconstruction. Finally,the modular robot simulation is performed to verify the effectiveness of the reconstruction strategy and feasibility of using webots software.