基于非理想元胞自动机的自重构机器人分布式控制分析-distributed control analysis of self-reconfigurable robots based on non-ideal cellular automata.docx

UBot 自重构机器人分布式重构运动仿真分析，验证了非理想元胞模型和元胞规 则的正确性，成功建立了自重构机器人非理想元胞自动机模型。自重构机器人与传统机器人的重要区别是能够通过改变整体构型以适应不 同的环境和任务需求，也就是自重构机器人的重构变形。重新定位自重构机器 人的重构变形问题，将面向确定目标构型的重构运动转向面向机器人适应环境 和功能需要的非确定性重构，使用环境约束和作业任务作为重构变形的激励因 素，借鉴制造业中的铸造思想和自然界普遍存在的分形思想，在自重构机器人 适应环境和完成任务的过程中，完成系统整体的重构变形。 关键词：自重构机器人；分布式控制；元胞自动机；重构运动；重构变形AbstractSelf-reconfigurable robot consists of multiple connected modules, and and the numerous DOFs of the modules has aggravated the difficulty for its motion planning. Traditional centralized motion control focused on the reconfiguration from initial configuration to some certain configuration, which has been proved to be a NP complete problem, leading to an exponent rising of planning complexity.Distributed control motion solved all the problems above by letting every module carry out the action planning work itself, which makes the best use of each modules’ computing resource and increases the robot’s self-repair ability and adaptability to the environment.The research on cellular automation theory in self-reconfigurable robot are mainly concentrated in ideal cellular automata which use the kinematic cubic as the ideal cell.The difference between real module and ideal cell in mobility restric t the use of cellular automation theory in the field of self-reconfigurable robot.Based on the research of ideal plane cellular automata, we use the cube as the ideal cell module, and build the ideal 3D cellular automata for self -reconfigurable robot. The ideal cell can move on the face of other cells freely. We research into the interaction pattern between cell mobility and cell rules, choose limited cell actions to form the ideal cell rules. Which enables the reconfiguration locomotion of self-reconfigurable robot over uneven terrain.In order to build the nonideal cellular automata for actual robot system, we analyze how actual robot modules gather environment information and execute mechanical motion. Take module motion limitation into account , we use the meta module as indep