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Self-reconfiguration Path Planning Design for M-Lattice Robot Based on Genetic Algorithm

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Book cover Intelligent Robotics and Applications (ICIRA 2011)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7102))

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Abstract

M-Lattice is a kind of lattice modular robot, which can finish self-reconfiguration in three-dimensional plane. How to substitute the broken modules effectively is a critical question for modular robot system. In order to solve it, we introduce the topology structure of M-Lattice system and math representation for the reconfiguration question. An energy factor to illustrate the relationship between energy cost and moving path is defined. The non-real time path planning based on genetic algorithm is also given. From the results of simulation, the reliability and feasibility of the planning is demonstrated.

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References

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Author information

Authors and Affiliations

  1. State Key Lab of Mechanical System and Vibration, Shanghai, P.R. China

    Enguang Guan, Zhuang Fu, Weixin Yan, Dongsheng Jiang & Yanzheng Zhao

  2. Shanghai Jiao Tong University, Shanghai, P.R. China

    Enguang Guan, Zhuang Fu, Weixin Yan, Dongsheng Jiang & Yanzheng Zhao

  3. State Key Laboratory of Robotics and System (HIT), Harbin, P.R. China

    Zhuang Fu

Authors
  1. Enguang Guan
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  2. Zhuang Fu
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  3. Weixin Yan
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  4. Dongsheng Jiang
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  5. Yanzheng Zhao
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Editor information

Editors and Affiliations

  1. Lehrstuhl für Informationsmanagement im Maschinenbau, RWTH Aachen, Zentrum für Lern- und Wissensmanagement, Dennewartstraße 27, 52068, Aachen, Germany

    Sabina Jeschke

  2. School of Creative Technologies, Intelligents Systems and Biomedical Robotics Group, University of Portsmouth, Eldon Building, Winston Churchill Avenue, PO1 3QL, Portsmouth, UK

    Honghai Liu

  3. ZLW/IMA, RWTH Aachen, Dennewartstraße 27, 52068, Aachen, Germany

    Daniel Schilberg

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© 2011 Springer-Verlag Berlin Heidelberg

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Guan, E., Fu, Z., Yan, W., Jiang, D., Zhao, Y. (2011). Self-reconfiguration Path Planning Design for M-Lattice Robot Based on Genetic Algorithm. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25489-5_49

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  • DOI: https://doi.org/10.1007/978-3-642-25489-5_49

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-25488-8

  • Online ISBN: 978-3-642-25489-5

  • eBook Packages: Computer ScienceComputer Science (R0)

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