TY - GEN
T1 - Reconfiguration planning for heterogeneous cellular space robot
AU - Zhang, Yifei
AU - Huang, Panfeng
AU - Zhang, Yizhai
AU - Chang, Haitao
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/8/30
Y1 - 2017/8/30
N2 - As a new form of space system construction and space operation, cellular space robot has the advantages of standardization, reconfiguration and system flexibility. The system flexibility depends on the flexibility of the configuration of the cellular space robot. In order to accomplish different tasks, cellular space robot needs to change its configuration by self-reconfiguration. However, since the variety types of cells, heterogeneous self-configuration problem of the cellular space robot constitutes a formidable technical challenge. In the process of self-reconfiguration, frequent cell disassembly operations will waste time and might bring additional risks. To solve the above-mentioned problems, a reconfiguration algorithm for heterogeneous cellular space robot is proposed to reduce the times of cell disassembly operations. Firstly, all cells for reconfiguration are divided into different levels. Then the cells are moved to the corresponding level of the intermediate configuration. Finally, the cells in the intermediate configuration are reconstructed to form the target configuration. The applicability of this algorithm is proven. The amount of cell disassembly of this algorithm is O(n). 3D simulations validate that the algorithm can realize the self-reconfiguration of the cellular space robot.
AB - As a new form of space system construction and space operation, cellular space robot has the advantages of standardization, reconfiguration and system flexibility. The system flexibility depends on the flexibility of the configuration of the cellular space robot. In order to accomplish different tasks, cellular space robot needs to change its configuration by self-reconfiguration. However, since the variety types of cells, heterogeneous self-configuration problem of the cellular space robot constitutes a formidable technical challenge. In the process of self-reconfiguration, frequent cell disassembly operations will waste time and might bring additional risks. To solve the above-mentioned problems, a reconfiguration algorithm for heterogeneous cellular space robot is proposed to reduce the times of cell disassembly operations. Firstly, all cells for reconfiguration are divided into different levels. Then the cells are moved to the corresponding level of the intermediate configuration. Finally, the cells in the intermediate configuration are reconstructed to form the target configuration. The applicability of this algorithm is proven. The amount of cell disassembly of this algorithm is O(n). 3D simulations validate that the algorithm can realize the self-reconfiguration of the cellular space robot.
KW - Cellular space robot
KW - Cellularization
KW - Graph theory
KW - Reconfigurable
KW - Spacecraft
UR - http://www.scopus.com/inward/record.url?scp=85031663348&partnerID=8YFLogxK
U2 - 10.1109/ICAR.2017.8023516
DO - 10.1109/ICAR.2017.8023516
M3 - 会议稿件
AN - SCOPUS:85031663348
T3 - 2017 18th International Conference on Advanced Robotics, ICAR 2017
SP - 185
EP - 190
BT - 2017 18th International Conference on Advanced Robotics, ICAR 2017
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 18th International Conference on Advanced Robotics, ICAR 2017
Y2 - 10 July 2017 through 12 July 2017
ER -