Natural Growth-Inspired Distributed Self-Reconfiguration of UBot Robots
作者： Dongyang Bie , Iqbal Sajid , Jianda Han , Jie Zhao , Yanhe Zhu
DOI: 10.1155/2019/2712015
关键词:
摘要: The decentralized self-reconfiguration of modular robots has been a challenging problem. This work proposed biological method inspired by the plant growth for distributed UBot systems. L-systems are implemented to construct target topology, and turtle interpretation is extended lead process. Parametric reproduction rules introduce external influence reconfiguration process modules’ local sensing. Each module can move independently change relative positions, robotic structures develop in natural style. leads convergent environmentally sensitive control self-reconfiguration. Reconfiguration processes converge desired configuration scalable numbers reproducing predefined substructures principle. overall performance strategy evaluated with simulations 11 experiments. Simulation experimental results turn out be sensitive.
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