TY - GEN
T1 - Intelligent algorithm-based cellular robot self-reconfiguration step planning research
AU - Liu, Tianle
AU - Wang, Wenhui
AU - Sun, Yuyao
AU - Zhang, Yizhai
AU - Huang, Panfeng
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Cellular robots have the advantages of fast mission response, in-orbit installability and high reliability. It has a broad application prospect in the future development of multimodal spacecraft. The method of reconfiguration planning steps is designed for the self-reconfiguration planning problem of the cellular spacecraft. Firstly, the description method of the spatial configuration of the cellular spacecraft is designed according to the cellular characteristics. Secondly, the training method of reconfiguration is established according to the method of PPO+ICM. Finally, the reconfiguration algorithm was tested with 8 modules of cells with the help of Unity3D. The simulation results show that the method meets the reconfiguration step planning requirements of the cellular spacecraft.
AB - Cellular robots have the advantages of fast mission response, in-orbit installability and high reliability. It has a broad application prospect in the future development of multimodal spacecraft. The method of reconfiguration planning steps is designed for the self-reconfiguration planning problem of the cellular spacecraft. Firstly, the description method of the spatial configuration of the cellular spacecraft is designed according to the cellular characteristics. Secondly, the training method of reconfiguration is established according to the method of PPO+ICM. Finally, the reconfiguration algorithm was tested with 8 modules of cells with the help of Unity3D. The simulation results show that the method meets the reconfiguration step planning requirements of the cellular spacecraft.
UR - http://www.scopus.com/inward/record.url?scp=85173610370&partnerID=8YFLogxK
U2 - 10.1109/RCAR58764.2023.10249418
DO - 10.1109/RCAR58764.2023.10249418
M3 - 会议稿件
AN - SCOPUS:85173610370
T3 - Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023
SP - 13
EP - 18
BT - Proceedings of the 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2023
Y2 - 17 July 2023 through 20 July 2023
ER -