提出可变形四边形模块机器人的稳定重构规划算法
Self-Reconfiguration Planning for Deformable Quadrilateral Modular Robots
- 用虚拟图表示连接/断开动作，构建依赖关系树求解执行顺序
- 证明7个以上模块的任意构型间均可实现稳定重构
- 在真实机器人平台验证，效率和稳定性优于现有方法
针对晶格型模块化自重构机器人（MSRRs），保持重构过程中的稳定连接对物理可行性与可部署性至关重要。本文提出一种新型自重构规划算法，适用于可变形四边形模块机器人，确保连接稳定。方法首先通过虚拟图表示构造可行的连接/断开动作，再利用基于依赖关系的逆向树（DRTree）组织这些动作形成有效执行序列，以解决动作间的依赖问题。我们还证明，对于包含七个或更多模块（排除线性拓扑）的任意构型对，均存在满足运动特性的重构序列。最后，与改进的BiRRT算法对比显示，本方法在效率与稳定性上表现更优；在物理机器人平台上部署的结果进一步验证了其实际可行性。
原文摘要 · Abstract (English)
For lattice modular self-reconfigurable robots (MSRRs), maintaining stable connections during reconfiguration is crucial for physical feasibility and deployability. This letter presents a novel self-reconfiguration planning algorithm for deformable quadrilateral MSRRs that guarantees stable connection. The method first constructs feasible connect/disconnect actions using a virtual graph representation, and then organizes these actions into a valid execution sequence through a Dependence-based Reverse Tree (DRTree) that resolves interdependencies. We also prove that reconfiguration sequences satisfying motion characteristics exist for any pair of configurations with seven or more modules (excluding linear topologies). Finally, comparisons with a modified BiRRT algorithm highlight the superior efficiency and stability of our approach, while deployment on a physical robotic platform confirms its practical feasibility.
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