论文标题
摩菌类系统的建模，模拟和计划
Modelling, Simulation, and Planning for the MoleMOD System
论文作者
论文摘要
Molemod是一种用于建筑和土木工程的异质自我配置的模块化机器人系统。在本文中，我们介绍了Molemod基础设施的两个组成部分 - 测试环境和计划算法。用于仿真和可视化活动部位以及被动块的测试环境是基于强大的通用机器人模拟器的凉亭。考虑到它们的身体特征，已将关键的努力用于准备被动和主动组件的现实模型。此外，介绍了Molemod系统的启动配置和最终配置，一种计划为活动部件的车队计划无碰撞轨迹的方法。
MoleMOD is a heterogeneous self-reconfigurable modular robotic system to be employed in architecture and civil engineering. In this paper we present two components of the MoleMOD infrastructure - a test environment and a planning algorithm. The test environment for simulation and visualization of active parts as well as passive blocks of MoleMOD is based on Gazebo - a powerful general-purpose robotic simulator. The key effort has been put into preparation of realistic models of passive and active components taking into account their physical characteristics. Moreover, given a starting configuration of the MoleMOD system and a final configuration an approach to plan collision-free trajectories for a fleet of active parts is introduced.
