基于仿生原理的移动式自重构机器人聚集方法与对接策略研究

The kernel of mobile self-reconfigurable robotics is how to efficiently execute the reversible course that multi-robots collect in the same location and then docking together to be single robot. Many approaches, such as weakening robots' mobility, centralized control, and path preplanning, were adopted to settle this matter, but none of them achieved expected outcomes. To solve problems of autonomous aggregation and docking, we take inspiration from biologic colony, and use the collaborative characteristic of swarm robotics. Firstly, research the aggregation methodology of swarm robotics, analyze the stochastic behaviors of cockroach and its probabilities to build the corresponding models, and then reseach the state switch mechanism of individual behaviors based on multi-Markov process. After aggregation, adopt minimum system energy and virtual force method to research the transfer way from disorder swarm to geometrical team, and then plan the docking tactic of swarm robots based on local interaction. Moreover, to meet the requirements of aggregation and docking, research the self-localization and self-communication technique. Aforementioned researches afford methodologies and techniques for the reversible course from swarm to single, and promote the merging of swarm robotics and self-reconfigurable robots.

移动式自重构机器人研究的核心问题在于如何高效实现模块群体自动聚集并对接成为整体机器人的可逆过程。目前大多数原型所采用的削弱机器人机动性、集中式控制策略、预先路径规划等手段都不能获得满意效果。本课题引入群体生物自组织行为的仿生方法，融合群机器人的交互与协作特性解决移动式自重构机器人自主聚集、自动对接的难题。基于蟑螂聚集机理研究群机器人自组织聚集方法，分析个体行为的随机现象与概率特性并建立相应概率模型，进而基于并发马尔科夫过程研究个体状态的动态转换机制。针对自组织聚集结果的随机性，采用系统能量最小法与虚力法研究无序群体至几何队列的状态迁移方法，建立基于局域个体交互的群机器人自主对接策略。在理论分析基础上，结合群机器人聚集与对接需求，开展机器人局域自定位与自主通信方法研究。为高效实现群体至整体的可逆过程提供理论与技术基础，并能促进群机器人与自重构机器人的有机融合。

移动式自重构机器人研究的核心问题在于如何高效实现模块群体自动聚集并对接成为整体机器人的可逆过程。本课题基于蟑螂聚集机理，建立了仿蟑螂聚集过程的自组织概率模型，并基于信息传递策略对概率模型进行了改进。采用Webots软件构建了物理模型与仿真环境，分析了系统参数与模型参数对单发及并发马尔科夫聚集过程的影响，仿真验证了群体聚集概率模型的高效性。研制了基于接收信号强度指示的相对定位模块，制定了面向不同任务的机器人个体间自主通信流程，建立了基于局域个体交互的自主对接策略。研制了一种兼具群体机器人与自重构机器人特点的新型单元机器人，搭建了机器人实验系统，开展了自重构机器人自组织聚集与自主对接实验研究，物理验证了仿蟑螂群体聚集概率模型、局域交互自主对接策略的有效性，解决了自重构机器人自主聚集、对接的难题，实现了离散模块群体自动聚集并对接成为整体机器人的可逆过程。