Path Planning Method in the Formation of the Configuration of a Multifunctional Modular Robot Using a Swarm Control Strategy

DOI

10.2991/itids-19.2019.30How to use a DOI?

Keywords

modular robotics, path planning, formation of the configuration, group control, swarm intelligence

Abstract

Multifunctional modular robots consist of a set of modules that can form a kinematic structure in accordance with the current task. When operating in a non-deterministic environment, the adaptive kinematic structure of the robot allows you to change the configuration and adapt to changing conditions and the limitations of the environment. However, the formation of the required configuration can take a lot of time, which is a problem when it is needed to perform the objective function in real time. Based on this, the purpose of this work is to reduce the time required for the formation of the modular robot configuration. The article proposes a method for path planning of moving modules when forming the configuration of a multifunctional modular robot using a swarm control strategy. This approach allows real-time information exchange between robot modules, and path planning accomplishes decentralized for each module, regardless of their number. The use of analytical geometry methods allows reducing the computational complexity of the method and avoiding the energy consumption of the onboard energy resources of the robot. The results of modeling the developed method for a robot consisting of 5-50 modules are presented.

Copyright

© 2019, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Vyacheslav Petrenko
AU  - Fariza Tebueva
AU  - Andrey Pavlov
AU  - Vladimir Antonov
AU  - Maksim Kochanov
PY  - 2019/05
DA  - 2019/05
TI  - Path Planning Method in the Formation of the Configuration of a Multifunctional Modular Robot Using a Swarm Control Strategy
BT  - Proceedings of the 7th Scientific Conference on Information Technologies for Intelligent Decision Making Support (ITIDS 2019)
PB  - Atlantis Press
SP  - 165
EP  - 170
SN  - 1951-6851
UR  - https://doi.org/10.2991/itids-19.2019.30
DO  - 10.2991/itids-19.2019.30
ID  - Petrenko2019/05
ER  -