Self-reconfiguration algorithms for robotic systems

摘要

In the work, the algorithms and concepts for reconfiguration of chain-type robots were investigated, and reconfiguration planning algorithms were developed. Based on the survey results, an original approach to solving the reconfiguration problem was proposed, namely the decomposition of the general problem into two subtasks: movement of individual modules to the target point and control of the obtained robotic complex. Within the framework of this study, only the subtask of reconfiguration planning was considered. Three algorithms were developed: the target assignment, the search for the optimal path, and the movement of the robot module. This combination of algorithms allowed solving the problem of moving the modules in space and further linking with each other.