摘要
针对用户给定的二维目标构形任务,提出了一种“分层规划、分层填充”的群机器人自主成形策略,以期将群体系统的全局行为转化为当前构型体内边缘层机器人个体的局部行为;在此分层成形策略基础上设计了一种包含预处理、边缘层运动链规划和链内分层填充三阶段的群机器人层式成形方法。最后研制了一种晶格式全向移动机器人,并通过9台机器人的2类试验分别验证了运动链规划方法的鲁棒性和层式成形方法的有效性。这种通过“软编程”方式操控一群移动机器人自主、有序地完成预期的二维几何构形任务,使得群机器人系统具备了随目标任务柔性变形的适应能力。
Aiming at the forming task of two-dimensional configuration,a novel programmable shape formation method for swarm robotics is introduced to enable the formed part to flexibly adjust its shape to meet versatile tasks.Under the condition that the target configuration and the initial configuration are stacked,the stratified strategy is designed to transform the problem of parallel collaboration of large-scale autonomous individuals into the planning and filling of individuals at the edge of the aggregation.Then,the stratified forming method with three stages of pretreatment,chain planning and chain filling is proposed to direct the robots to perform the shape formation task.Finally,the physical prototype with nine lattice mobile robots is performed to verify the present stratified forming strategy and method.
作者
王荪馨
WANG Sunxin(Faculty of Mechanical and Precision Instrument Engineering,Xi'an University of Technology,Xi'an 710048,China)
出处
《机械科学与技术》
CSCD
北大核心
2021年第12期1842-1848,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
陕西省重点研发计划项目(2021GY-332)
西安理工大学博士启动基金项目。
关键词
群机器人
自主成形
分层策略
层式成形
晶格式机器人
swarm robotics
shape formation
stratified strategy
stratified forming
lattice mobile robot
