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模块化自重构机器人最优构形拓扑转换
Optimal Configuration Topological Transformation of Modular Self-Reconfigurable Robots
【摘要】 定义了模块化自重构机器人构形拓扑转换的基本概念,分析总结了最优构形拓扑转换的规律,并采用遗传算法对构形拓扑转换进行优化.结果显示,构形拓扑转换过程中的连接变化操作次数被有效地降低,提高了模块化自重构机器人自重构的效率.
【Abstract】 This paper defined the basic concept of configuration topological transformation for modular self-reconfigurable (MSR) robots, and summed up the discipline of the optimal topological transformation, then employed a genetic algorithm for this topological transformation optimization. The result shows that the connective variations, i.e. connections or disconnections in the self-reconfiguration are reduced, which to improves the efficiency of self-reconfiguration for MSR robots.
【关键词】 机器人;
自重构机器人;
构形拓扑;
拓扑转换;
遗传算法;
【Key words】 robots; self-reconfigurable robots; configuration topology; topological transformation; genetic algorithm;
【Key words】 robots; self-reconfigurable robots; configuration topology; topological transformation; genetic algorithm;
【基金】 上海市青年科技启明星计划资助项目(01QF14028);国家自然科学基金资助项目(60104001)
- 【文献出处】 上海交通大学学报 ,Journal of Shanghai Jiaotong University , 编辑部邮箱 ,2005年06期
- 【分类号】TP242
- 【被引频次】11
- 【下载频次】280