Shape-shifting Robot Path Planning Method Based on Reconfiguration Performance
文献类型：会议论文
| 作者 | Liu TL(刘同林); Wu CD(吴成东); Li B(李斌)
|
| 出版日期 | 2010 |
| 会议名称 | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 |
| 会议日期 | October 18-22, 2010 |
| 会议地点 | Taipei, TAIWAN |
| 页码 | 4578-4583 |
| 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 reconfiguration ability of this robot. This method can automatically adjust the relation between the rapid movement and the secure mobile position of the robot based on the distribution of obstacles that are around the robot, and this method can also automatically select an appropriate configuration to adapt the robot to the environmental variation according to the information of the current conditions. The problem of deadlock is avoided by using the Boundary Following. Further, a Reconfiguration Memory is provided to optimize the trace of the Boundary Following, and it can help the robot to search a new path. Simulation results validated the advantage of the proposed method which can get the best out of the unique accessibility of the shape-shifting robot and reduced effectively the length of the robot traveling path. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议录 | IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
 |
| 会议录出版者 | IEEE Computer Society |
| 会议录出版地 | Piscataway, NJ, USA |
| 语种 | 英语 |
| ISSN号 | 2153-0858 |
| ISBN号 | 978-1-4244-6675-7 |
| WOS记录号 | WOS:000287672001137 |
| 源URL | [http://ir.sia.cn/handle/173321/8875]  |
| 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. Shape-shifting Robot Path Planning Method Based on Reconfiguration Performance[C]. 见:IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010. Taipei, TAIWAN. October 18-22, 2010. |
入库方式： OAI收割
来源：沈阳自动化研究所
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