A Fault-Tolerant Approach for Modular Robots through Self-Reconfiguration

IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Advanced intelligent systems (Weinheim an der Bergstrasse, Germany) Pub Date : 2024-06-13 DOI:10.1002/aisy.202300774
Jian Qi, Mingzhu Lai, Zhiyuan Yang, Ning Zhao, Kai Han, Xin Sui, Jie Zhao, Yanhe Zhu
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Abstract

Modular robots have unique advantages in handling faults and improving their robustness due to their self-reconfiguration capacity and homogeneous interchangeability. When locked joint failure occurs in modular robots, the distribution of the failed modules will affect the manipulation capacity of the robot. In this article, a novel self-reconfiguration method that utilizes only the remaining resources available to mitigate the damage caused by module joint failures is proposed. The key node configuration is searched by the particle swarm optimization (PSO) algorithm, and then the collision-free reconfiguration path is planned by the rapidly exploring random trees (RRT) algorithm. The proposed method not only handles single-module lockup failure but can also be expanded to multi-module lockup failures, fully improving the fault tolerance of the modular robot. The method is deployed on the hardware, and the feasibility of the algorithm is verified by self-reconfiguration experiments containing faulty modules.

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通过自我重新配置实现模块化机器人的容错方法
模块化机器人具有自我重新配置能力和同质互换性,因此在处理故障和提高鲁棒性方面具有独特的优势。当模块化机器人的锁定关节发生故障时,故障模块的分布将影响机器人的操纵能力。本文提出了一种新型的自重新配置方法,该方法仅利用剩余的可用资源来减轻模块接口故障造成的损害。通过粒子群优化(PSO)算法搜索关键节点配置,然后通过快速探索随机树(RRT)算法规划无碰撞的重新配置路径。所提出的方法不仅能处理单模块锁定故障,还能扩展到多模块锁定故障,充分提高了模块机器人的容错能力。该方法已在硬件上部署,并通过包含故障模块的自重新配置实验验证了算法的可行性。
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CiteScore
1.30
自引率
0.00%
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审稿时长
4 weeks
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