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Erschienen in:
2011 | OriginalPaper | Buchkapitel
Self-reconfiguration Path Planning Design for M-Lattice Robot Based on Genetic Algorithm
verfasst von : Enguang Guan, Zhuang Fu, Weixin Yan, Dongsheng Jiang, Yanzheng Zhao
Erschienen in: Intelligent Robotics and Applications
Verlag: Springer Berlin Heidelberg
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M-Lattice is a kind of lattice modular robot, which can finish self-reconfiguration in three-dimensional plane. How to substitute the broken modules effectively is a critical question for modular robot system. In order to solve it, we introduce the topology structure of M-Lattice system and math representation for the reconfiguration question. An energy factor to illustrate the relationship between energy cost and moving path is defined. The non-real time path planning based on genetic algorithm is also given. From the results of simulation, the reliability and feasibility of the planning is demonstrated.