一种可编程的群机器人自主成形方法

王荪馨

doi:10.13433/j.cnki.1003-8728.20200609

一种可编程的群机器人自主成形方法

doi: 10.13433/j.cnki.1003-8728.20200609

王荪馨

西安理工大学机械与精密仪器工程学院, 西安 710048

基金项目:

陕西省重点研发计划项目 2021GY-332

详细信息

作者简介:
王荪馨(1974-), 教授, 博士, 研究方向为智能制造和集群机器人, wsx8280@xaut.edu.cn

中图分类号: TP42
计量
- 文章访问数: 146
- HTML全文浏览量: 22
- PDF下载量: 14
- 被引次数: 0
出版历程
- 收稿日期: 2021-04-12
- 刊出日期: 2021-12-05

Programmable Shape Formation Approach for Swarm Robotics

WANG Sunxin

Faculty of Mechanical and Precision Instrument Engineering, Xi'an University of Technology, Xi'an 710048, China

摘要

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。
- 群机器人 /
- 自主成形 /
- 分层策略 /
- 层式成形 /
- 晶格式机器人
Abstract: 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.
- swarm robotics /
- shape formation /
- stratified strategy /
- stratified forming /
- lattice mobile robot

HTML全文

图 1 群机器人分层成形策略

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图 2 群机器人层式成形方法

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图 3 晶格式移动机器人及9车成形试验平台

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图 4 个体失效条件下运动链规划方法的鲁棒性试验

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图 5 “十字形”目标图案的9车自主成形试验及其过程

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表 1 晶格式移动机器人硬件参数

类别	型号/参数	数量	特点
中心控制板	Arduino mega2560	1	操作简单
扩展板	-	1	-
降压模块	5V输出	1	体积小、电压稳定
测距传感器	HC-SR04	8	短距离高精度测距
通信模块	-	4	收发一体
电子陀螺仪	MPU-6050	1	体积小、精度高
运动控制板	STM32F103C8T6	1	体积小、性能高
扩展板和电机驱动	-	1	-
直流减速电机	-	3	体积小
全向轮	-	3	全向移动易于控制
Arduino 无线下载器	-	1	可多同时传输数据
LED指示灯	-	1	-
电源	7.4V	1	-

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参考文献(14)

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