Research On The Self-reconfiguration Mobile Robot: Design Of A Module, Positioning And Communication Between Modules

Self-reconfiguration robots can gather as an entirety or separate into several individuals according to different operation tasks of the unknown environment to improve the operation ability and efficiency. In the process of individual aggregation and connection, individual positioning and inter-communication are key factors to guarantee successful connection. This paper researches both two key technologies on the basis of completing individual design. Details are as follows:As for individual design, individual structure is divided into mobile module, connection module and positioning communication module based on modularization idea. To give consideration to both ground adaptability and m ovement flexibility of robots, this paper has designed a movement structure of double side tooth synchronous belt. A connection device which can keep the combined application of electromagnet and jack catch & snap ring mechanism is designed to reduce the connection difficulty between individuals. Such a device can guarantee 360 o circular connection of robots and reduces the positioning precision demand of individuals.As for inter-positioning, this paper puts forward a multi-sensor fusion bearing measurement algorithm based on infrared signal intensity and fading characteristics according to the structural characteristics and performance requirements of mobile self-reconfiguration robot. A sensor group composed of 16 infrared transmitters and 8 infrared receivers is designed to realize one-off direct measurement of 360 o inter-orientation. Meanwhile it has the advantages such as low power consumption and fast computation speed, which lays a foundation to individual aggregation and successful connection.As for inter-communication, an inter-robot information processing flow facing different tasks is designed based on the idea of data type coding. Firstly, it classifies communication types and compiles information sending contents and formats in different status according to different status of robots in executing tasks. It formulates the information process which shall be executed by robots in completing aggregation and connection tasks on such a basis. Finally it uses Wbots software to complete the simulation of robot aggregation and connection process and verifies the feasibility of formulated process.