Autonomous Alignment and Docking Control for a Self-Reconfigurable Modular Mobile Robotic System
| dc.contributor.author | Feng, Shumin | en |
| dc.contributor.author | Liu, Yujiong | en |
| dc.contributor.author | Pressgrove, Isaac | en |
| dc.contributor.author | Ben-Tzvi, Pinhas | en |
| dc.date.accessioned | 2024-05-24T13:37:15Z | en |
| dc.date.available | 2024-05-24T13:37:15Z | en |
| dc.date.issued | 2024-05-20 | en |
| dc.date.updated | 2024-05-24T13:05:16Z | en |
| dc.description.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. | en |
| dc.description.version | Published version | en |
| dc.format.mimetype | application/pdf | en |
| dc.identifier.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. | en |
| dc.identifier.doi | https://doi.org/10.3390/robotics13050081 | en |
| dc.identifier.uri | https://hdl.handle.net/10919/119091 | en |
| dc.language.iso | en | en |
| dc.publisher | MDPI | en |
| dc.rights | Creative Commons Attribution 4.0 International | en |
| dc.rights.uri | http://creativecommons.org/licenses/by/4.0/ | en |
| dc.subject | modular self-reconfigurable robotic system | en |
| dc.subject | mobile robot stabilization | en |
| dc.subject | switching kinematics | en |
| dc.subject | trajectory optimization | en |
| dc.title | Autonomous Alignment and Docking Control for a Self-Reconfigurable Modular Mobile Robotic System | en |
| dc.title.serial | Robotics | en |
| dc.type | Article - Refereed | en |
| dc.type.dcmitype | Text | en |