A novel auto-adapted path-planning method for a shape-shifting robot
A novel auto-adapted path-planning method for a shape-shifting robot
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DOI：
10.1108/17563781111115796
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发表时间：
2011-03
期刊：
影响因子：
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通讯作者：
Tonglin Liu;Chengdong Wu;Bin Li;Shugen Ma;Jinguo Liu
中科院分区：
文献类型：
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作者：
Tonglin Liu;Chengdong Wu;Bin Li;Shugen Ma;Jinguo Liu
目的-本文的目的是描述一种具有不同配置的变形机器人，名为“AMOEBA‐I”，已开发用于搜索和救援行动。通过改变机器人的结构，有效地增强了机器人对非结构化环境的可访问性。因此在AMOEBA-I路径规划中应考虑机器人的形状和重构，以提高机器人在复杂环境中的工作能力。设计/方法/途径--通过将机器人的可重构能力引入到改进势场法中，提出了一种自适应的AMOEBA ‐ I路径规划方法。修正势场法有效地解决了局部极小值问题和有障碍物时目标不可达问题。将角点检测与修正势场法相结合，研究了变形机器人通过狭窄空间的方法。
Purpose – The purpose of this paper is to describe a shape‐shifting robot with diverse configurations, named “AMOEBA‐I”, which has been developed for search and rescue operations. The accessibility of this robot to unstructured environment is efficiently enhanced by changing its configuration. So the shape and reconfiguration of the robot should be considered in AMOEBA‐I path planning to improve work ability of the robot in complex environment. The unique accessibility of AMOEBA‐I is thus fully displayed.Design/methodology/approach – An auto‐adapted path‐planning method is presented for AMOEBA‐I by introducing the reconfigurable ability of the robot into the modified potential field method. The modified potential field method solves the local minimum problem and goal‐unreachable with nearby obstacles (GUWNO) effectively. A method of the shape‐shifting robot's passing through the narrow space is studied by combining the corner detection with the modified potential field method.Findings – The ability of the...