A novel auto-adapted path-planning method for a shape-shifting robot
文献类型：期刊论文
| 作者 | Liu TL(刘同林); Wu CD(吴成东); Li B(李斌) ; Ma SG(马书根); Liu JG(刘金国)
|
| 刊名 | International Journal of Intelligent Computing & Cybernetics
 |
| 出版日期 | 2011 |
| 卷号 | 4期号:1页码:61-80 |
| 关键词 | Robots Adaptability Motion Control technology |
| ISSN号 | 1756-378X |
| 产权排序 | 1 |
| 中文摘要 | Purpose - The purpose of this paper is to describe a shape-shifting robot with diverse configurations, named ldquoAMOEBA-Irdquo, which has been developed for search and rescue operations. The accessibility of this robot to unstructured environment is efficiently enhanced by changing its configuration. So the shape and reconfiguration of the robot should be considered in AMOEBA-I path planning to improve work ability of the robot in complex environment. The unique accessibility of AMOEBA-I is thus fully displayed. Design/methodology/approach - An auto-adapted path-planning method is presented for AMOEBA-I by introducing the reconfigurable ability of the robot into the modified potential field method. The modified potential field method solves the local minimum problem and goal-unreachable with nearby obstacles (GUWNO) effectively. A method of the shape-shifting robot's passing through the narrow space is studied by combining the corner detection with the modified potential field method. Findings - The ability of the robot to automatically change configuration to pass through a narrow space is proven through the experiment. Simulation results show that the robot can change its own configurations to perform auto-adapted path planning corresponding to the environmental variation. Therefore, the proposed method can improve the probability of completing the path planning. As a result, this method will shorten the path length and complete the rescue operation more effectively. Originality/value - The paper presents an effective auto-adapted path-planning method that integrates the reconfigurable ability of the robot into the modified potential field method in order to realize the auto-adapted path planning. |
| 收录类别 | EI |
| 语种 | 英语 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7283]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Liu TL,Wu CD,Li B,et al. A novel auto-adapted path-planning method for a shape-shifting robot[J]. International Journal of Intelligent Computing & Cybernetics,2011,4(1):61-80. |
| APA | Liu TL,Wu CD,Li B,Ma SG,&Liu JG.(2011).A novel auto-adapted path-planning method for a shape-shifting robot.International Journal of Intelligent Computing & Cybernetics,4(1),61-80. |
| MLA | Liu TL,et al."A novel auto-adapted path-planning method for a shape-shifting robot".International Journal of Intelligent Computing & Cybernetics 4.1(2011):61-80. |
入库方式： OAI收割
来源：沈阳自动化研究所
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