具有多样化对接机构布局的模块化无人水面艇并行自组装
Parallel Self-assembly for Modular USVs with Diverse Docking Mechanism Layouts
AI总结：
针对异构多机器人自组装研究空白，提出可配置对接机构的CuBoat无人水面艇、LADRC控制方案及通用并行自组装规划算法，经多场景仿真与实验验证了算法性能、可行性与通用性。
摘要：
自组装使多机器人系统能够整合多样化能力，完成单个机器人无法企及的任务。引入多样化的对接机构布局（DMLs）可提升机器人通用性或降低成本，但组装多台具有不同DMLs的异构机器人仍是研究空白。本文针对该问题提出了CuBoat——一种全向无人水面艇（USV），其四个侧面可选择配备或不配备对接系统，以此模拟异构机器人，并基于多台CuBoat搭建了多机器人系统。为提升机动性，提出了线性自抗扰控制（LADRC）方案；此外还提出了一种通用并行自组装规划算法，实现不同DMLs的CuBoat间高效组装。研究通过2种场景、4张不同地图的仿真验证了自组装规划算法的性能，轨迹跟踪测试证实了LADRC控制器的有效性，5张不同目标结构地图上的自组装实验则验证了算法的可行性与通用性。本研究推动了机器人自组装领域发展，使多机器人系统能够协作应对超出单个机器人能力的复杂任务。
英文摘要：
Self-assembly enables multi-robot systems to merge diverse capabilities and accomplish tasks beyond the reach of individual robots. Incorporating varied docking mechanisms layouts (DMLs) can enhance robot versatility or reduce costs. However, assembling multiple heterogeneous robots with diverse DMLs is still a research gap. This paper addresses this problem by introducing CuBoat, an omnidirectional unmanned surface vehicle (USV). CuBoat can be equipped with or without docking systems on its four sides to emulate heterogeneous robots. We implement a multi-robot system based on multiple CuBoats. To enhance maneuverability, a linear active disturbance rejection control (LADRC) scheme is proposed. Additionally, we present a generalized parallel self-assembly planning algorithm for efficient assembly among CuBoats with different DMLs. Validation is conducted through simulation within 2 scenarios across 4 distinct maps, demonstrating the performance of the self-assembly planning algorithm. Moreover, trajectory tracking tests confirm the effectiveness of the LADRC controller. Self-assembly experiments on 5 maps with different target structures affirm the algorithm's feasibility and generality. This study advances robotic self-assembly, enabling multi-robot systems to collaboratively tackle complex tasks beyond the capabilities of individual robots.
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。
