Reconfiguration Optimization for a Swarm of Wheel-manipulator Robots
文献类型：会议论文
| 作者 | Wang MH(王明辉) ; Ma SG(马书根); Li B(李斌); Gong, Haili; Wang YC(王越超)
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| 出版日期 | 2008 |
| 会议名称 | IEEE International Conference on Mechatronics and Automation |
| 会议日期 | August 5-8, 2008 |
| 会议地点 | Takamatsu, JAPAN |
| 页码 | 1034-1039 |
| 中文摘要 | This paper focuses on the reconfiguration optimization of the swarm configurations assembled by the reconfigurable wheel-manipulator robots, which can independently perform the actions of locomotion and manipulation. The aim of reconfiguration is to generate better configurations while adapting to the environment. The reconfiguration of swarm configurations can be classified into the configuration assembly and configuration transformation. The Module State Vector and Configuration State Matrix are applied to optimization analysis in order to acquire the relation of the state transformation. The algorithms are presented for assembling optimally the configuration of individual modules and reconfiguring optimally the configuration of the robots. Their validity is evaluated and demonstrated through the numerical simulations. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | IEEE Robot & Automat Soc, Kagawa Univ, Harbin Engn Univ, Japan Soc Mechan Engn, Robot Soc Japan, Soc Instrument & Control Engn, Japan Soc Precis Engn, Univ Electron Sci & Technol, Changchun Univ Sci & Technol, Beijing Univ Technol |
| 会议录 | 2008 INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION: (ICMA), VOLS 1 AND 2
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISBN号 | 978-1-4244-2631-7 |
| WOS记录号 | WOS:000267671500186 |
| 源URL | [http://ir.sia.cn/handle/173321/8845]  |
| 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 | Wang MH,Ma SG,Li B,et al. Reconfiguration Optimization for a Swarm of Wheel-manipulator Robots[C]. 见:IEEE International Conference on Mechatronics and Automation. Takamatsu, JAPAN. August 5-8, 2008. |
入库方式： OAI收割
来源：沈阳自动化研究所
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