聚合单轮移动机器人以实现全向运动
Aggregating Single-wheeled Mobile Robots for Omnidirectional Movements
AI总结：
本文提出一种由配备可转向全向轮和永磁对接机构的单轮模块自重构聚合而成的机器人系统，通过优化轮向分布和分层控制实现多模块协作包围运输物体的全向运动，并在仿真与六模块实验中验证了稳定编队和平稳运输性能。
摘要：
本文提出了一种新型模块化机器人系统，该系统能够自重构以实现协作物体运输中的全向运动。每个机器人模块配备一个可转向的全向轮用于导航，其外形为正二十四边形，每个角上安装有永磁体以实现稳定对接。在聚合多个模块并形成能够包围目标物体的结构后，我们开发了一种基于优化的方法来计算所有轮子朝向角的分布，从而实现该结构的高效全向运动。通过在仿真和实验中对我们原型系统实施分层控制器，我们验证了单个模块和一个由六个模块组成的团队在多种导航和协作物体运输场景下的轨迹跟踪性能。结果表明，所提出的系统能够保持稳定的包围编队并实现平稳运输，表明我们的硬件和运动设计的有效性。
英文摘要：
This paper presents a novel modular robot system that can self-reconfigure to achieve omnidirectional movements for collaborative object transportation. Each robotic module is equipped with a steerable omni-wheel for navigation and is shaped as a regular icositetragon with a permanent magnet installed on each corner for stable docking. After aggregating multiple modules and forming a structure that can cage a target object, we have developed an optimization-based method to compute the distribution of all wheels' heading directions, which enables efficient omnidirectional movements of the structure. By implementing a hierarchical controller on our prototyped system in both simulation and experiment, we validated the trajectory tracking performance of an individual module and a team of six modules in multiple navigation and collaborative object transportation settings. The results demonstrate that the proposed system can maintain a stable caging formation and achieve smooth transportation, indicating the effectiveness of our hardware and locomotion designs.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
