دورية أكاديمية
A Fault‐Tolerant Approach for Modular Robots through Self‐Reconfiguration
| العنوان: | A Fault‐Tolerant Approach for Modular Robots through Self‐Reconfiguration |
|---|---|
| المؤلفون: | Jian Qi, Mingzhu Lai, Zhiyuan Yang, Ning Zhao, Kai Han, Xin Sui, Jie Zhao, Yanhe Zhu |
| المصدر: | Advanced Intelligent Systems, Vol 6, Iss 7, Pp n/a-n/a (2024) |
| بيانات النشر: | Wiley, 2024. |
| سنة النشر: | 2024 |
| المجموعة: | LCC:Computer engineering. Computer hardware |
| مصطلحات موضوعية: | fault tolerance, modular robots, path planning, self‐reconfiguration, Computer engineering. Computer hardware, TK7885-7895, Control engineering systems. Automatic machinery (General), TJ212-225 |
| الوصف: | 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. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2640-4567 |
| Relation: | https://doaj.org/toc/2640-4567 |
| DOI: | 10.1002/aisy.202300774 |
| URL الوصول: | https://doaj.org/article/ac78fc5f08cc454796369a2e239dea69 |
| رقم الأكسشن: | edsdoj.78fc5f08cc454796369a2e239dea69 |
| قاعدة البيانات: | Directory of Open Access Journals |
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