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介绍了一款由多个机器人模块组成的分布式群体飞行机器人系统DSFR(DSFR,Distributed Swarm Flying Robot),机器人模块可以在地面自主移动,相互自组装并形成一个整体的机器人构型进行空中飞行.文章主要介绍了DSFR的对接系统设计和自组装控制策略,提出了一种用于机器人构型描述的广义邻接矩阵.在对接系统的设计和构型描述矩阵的基础上,通过DSFR机器人的自组装控制实验展示并验证了相关设计和控制策略的可行性.
A distributed group flying robot system (DSFR) composed of multiple robot modules is introduced. The robot modules can move autonomously on the ground and self-assemble to form an overall robot configuration for aerial flight. This paper introduces the design of docking system and self-assembly control strategy of DSFR, and proposes a generalized adjacency matrix for robot configuration description. Based on the design of docking system and the description matrix of configuration, through the self-assembly of DSFR robot Control experiments demonstrate and verify the feasibility of related design and control strategies.