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arXiv 2007.100362020-07-20cs.RO

Modelling, Simulation, and Planning for the MoleMOD System

Czech Technical University in Prague（布拉格捷克理工大学）

Michaela Brejchová, Miroslav Kulich, Jan Petrš, Libor Přeučil

发表信息：: Modelling and Simulation for Autonomous Systems. MESAS 2018. Lecture Notes in Computer Science
DOI：: 10.1007/978-3-030-14984-0_1

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MoleMOD is a heterogeneous self-reconfigurable modular robotic system to be employed in architecture and civil engineering. In this paper we present two components of the MoleMOD infrastructure - a test environment and a planning algorithm. The test environment for simulation and visualization of active parts as well as passive blocks of MoleMOD is based on Gazebo - a powerful general-purpose robotic simulator. The key effort has been put into preparation of realistic models of passive and active components taking into account their physical characteristics. Moreover, given a starting configuration of the MoleMOD system and a final configuration an approach to plan collision-free trajectories for a fleet of active parts is introduced.

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