Abstract
In the process of planning the sequence of self-reconfigurable robot's module connecting, disconnecting and rotating, it was found that the robot configuration made of four windmill-like crystal cell groups (WLCCG) could realize transferring of centroid by means of reconfigurable moving function. This motion mode is essentially different from whole coordinated motion of specific configuration. In order to realize transferring of centroid, motion planning strategy should include planning moving path and the sequence of module connecting, disconnecting and rotating. When there were obstacles on a moving plane, the algorithm of heuristics rapidly-exploring random tree was used in planning the moving path of robot composed of WLCCGs. The actions of robot were realized by fixed motion sequence database. Finally, the high effectiveness and feasibility of heuristics rapidly-exploring random tree were varified by experiment.
| Original language | English |
|---|---|
| Pages (from-to) | 10-14 |
| Number of pages | 5 |
| Journal | Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) |
| Volume | 39 |
| Issue number | 4 |
| State | Published - Apr 2011 |
Keywords
- Heuristics rapidly-exploring random tree
- Motion planning
- Reconfigurable motion
- Self-reconfigurable robot
- Windmill-like crystal cell groups
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