A New Collision-free Path Planning for a Shape-shifting Robot
文献类型：会议论文
| 作者 | Liu TL(刘同林); Wu CD(吴成东); Li B(李斌) ; Wang MH(王明辉)
|
| 出版日期 | 2010 |
| 会议名称 | 2010 SICE Annual Conference |
| 会议日期 | August 18-21, 2010 |
| 会议地点 | Taipei |
| 关键词 | reconfigurable modular robot shape shifting path planning |
| 页码 | 3514-3519 |
| 中文摘要 | A shape-shifting robot “AMOEBA-I” has diverse configurations, and the accessibility of the robot can be reinforced in the narrow space by changing the configurations. In this paper, a path planning method is presented corresponding to the unique reconfigurable ability of the robot. This method can automatically adjust the relation between the secure mobile position of the robot and the number of iterations of the algorithm according to the distribution of obstacles in robot’s surrounding environment, and it can automatically select the appropriate configuration according to the current environment. In the meantime a reconfigurable evaluation is provided so as to the unique accessibility of the shape-shifting robot is fully used. Simulation results validated that the robot can change its own configurations to perform the path planning corresponding to the environmental variation; as a result, the length of the path has been reduced effectively. |
| 产权排序 | 1 |
| 会议录 | Proceedings of SICE Annual Conference 2010
 |
| 语种 | 英语 |
| 源URL | [http://ir.sia.cn/handle/173321/8494]  |
| 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 New Collision-free Path Planning for a Shape-shifting Robot[C]. 见:2010 SICE Annual Conference. Taipei. August 18-21, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。