Pareto Optimal Reconfiguration Planning and Distributed Parallel Motion Control of Mobile Modular Robots
Pareto Optimal Reconfiguration Planning and Distributed Parallel Motion Control of Mobile Modular Robots
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DOI：
10.1109/tie.2023.3321997
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发表时间：
2024
影响因子：
7.7
通讯作者：
Chen Zhang;Lelai Zhou;Yibin Li
中科院分区：
文献类型：
--
作者：
Chen Zhang;Lelai Zhou;Yibin Li
为了提高移动的模块化机器人的重构效率，提出了最优重构规划和并行控制方法。在字典式框架下，考虑了移动模块数、出坞动作数和总移动距离对重构的影响。提出了最大公共子图匹配和搜索树的方法来搜索Pareto最优解。针对由不同数目的模块刚性连接的不同形状的构件，设计了一种基于局部一致性的分布式控制器。共享工作空间中的并联运动带来了高效率的重构。仿真和实际实验验证了该方法的有效性。
Aiming at improving the efficiency of reconfiguration of mobile modular robots, the optimal reconfiguration planning and parallel control method are proposed in this work. The number of moving modules, the number of undocking actions, and the total moving distance are considered in reconfiguration optimization with the lexicographic framework. The maximum common subgraph matching and searching tree are proposed to search the Pareto optimal solution. A distributed controller based on local consensus is designed for components that are rigidly connected by different numbers of modules and under different shapes. Parallel motion in the shared workspace brings a high efficiency of reconfiguration. The simulations and real-world experiments verify the effectiveness of our method.