TY - GEN
T1 - Trajectory generation and steering optimization for self-assembly of a modular robotic system
AU - Wolfe, Kevin C.
AU - Kutzer, Michael D.M.
AU - Armand, Mehran
AU - Chirikjian, Gregory S.
PY - 2010
Y1 - 2010
N2 - A problem associated with motion planning for the assembly of individual modules in a new self-reconfigurable modular robotic system is presented. Modules of the system are independently mobile and can be driven on flat surfaces in a similar fashion to the classic kinematic cart. This problem differs from most nonholonomic steering problems because of an added constraint on one of the internal states. The constraint properly aligns the docking mechanism, allowing modules to connect with one another along wheel surfaces. This paper presents an initial method for generating trajectories and control inputs that allow module assembly. It also provides an iterative method for locally optimizing a nominal control function using weighted perturbation functions, while preserving the final pose and internal states.
AB - A problem associated with motion planning for the assembly of individual modules in a new self-reconfigurable modular robotic system is presented. Modules of the system are independently mobile and can be driven on flat surfaces in a similar fashion to the classic kinematic cart. This problem differs from most nonholonomic steering problems because of an added constraint on one of the internal states. The constraint properly aligns the docking mechanism, allowing modules to connect with one another along wheel surfaces. This paper presents an initial method for generating trajectories and control inputs that allow module assembly. It also provides an iterative method for locally optimizing a nominal control function using weighted perturbation functions, while preserving the final pose and internal states.
KW - Modular robots
KW - Nonholonomic motion planning
KW - Self-assembly
KW - Trajectory optimization
UR - http://www.scopus.com/inward/record.url?scp=77955792636&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955792636&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509157
DO - 10.1109/ROBOT.2010.5509157
M3 - Conference contribution
AN - SCOPUS:77955792636
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4996
EP - 5001
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -