The Auto-adapted Path Planning Research for a Shape-shifting Robot
A shape-shifting robot with diverse configurations,named“AMOEBA-I has been developed for searchand rescue tasks.The accessibility of this robot to uneven environment was efficiently enlarged bychanging its configuration.In this paper,after introducing simply the potential field method,we presentan auto-adapted path planning method for the AMOEBA-I,that integrates the reconfigurable ability ofthe robot into the potential field law.The unique accessibility of the AMOEBA-I is thus fully displayed,while the modified potential field method is applied to solve effectively the local minimum problem.Theconcept of the visibility field is introduced to reduce the computational complexity for improving thereal-time quality index,it has been validated through experimental results that the robot can change itsown configurations to perform the auto-adapted path planning corresponding to the environmentalvariation.As a result,the length of the path has been reduced successfully and effectively.
reconfiguration modular robot shape-shifting path planning potential field
LIU TongLin WU ChengDong LI Bin MA ShuGen LIU JinGuo
State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya
国际会议
南京
英文
16-21
2008-10-01（万方平台首次上网日期，不代表论文的发表时间）