Autonomous Alignment and Docking Control for a Self-Reconfigurable Modular Mobile Robotic System

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Date

2024-05-20

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Publisher

MDPI

Abstract

This paper presents the path planning and motion control of a self-reconfigurable mobile robot system, focusing on module-to-module autonomous docking and alignment tasks. STORM, which stands for Self-configurable and Transformable Omni-Directional Robotic Modules, features a unique mode-switching ability and novel docking mechanism design. This enables the modules that make up STORM to dock with each other and form a variety configurations in or to perform a large array of tasks. The path planning and motion control presented here consists of two parallel schemes. A Lyapunov function-based precision controller is proposed to align the target docking mechanisms in a small range of the target position. Then, an optimization-based path planning algorithm is proposed to help find the fastest path and determine when to switch its locomotion mode in a much larger range. Both numerical simulations and real-world experiments were carried out to validate these proposed controllers.

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Citation

Feng, S.; Liu, Y.; Pressgrove, I.; Ben-Tzvi, P. Autonomous Alignment and Docking Control for a Self-Reconfigurable Modular Mobile Robotic System. Robotics 2024, 13, 81.