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| On Self-organized Collaboration Behavior in Multi-modular Mobile Robots |
| FEI Yan-Qiong-a, b , ZHU Yue-Liang-a, b , SONG Li-Bo-a, b |
| (a.Research Institute of Robotics； b.State Key Laboratory of Robotics， Shanghai Jiaotong University， Shanghai 200240, China) |
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Abstract A new modular mobile robot was designed, which consists of four basic modules. For the selforganized collaboration behavior of multi-modular mobile robots in the complex environment, this paper presented three motion strategies. The direction selected rules of the goal were analyzed in the multimodular mobile robots. The multi-obstacle avoidance strategy that based on the “perception-action” was described. So robots can avoid the obstacle continuously and reach the assigned goal. The coordination strategy in multi-modular robots was shown, by which they can cooperate with others to carry the heavy or climb over a step that a single robot cannot complete. At last, the 3D simulation proves the validity of the strategy in the multi-obstacle environment.
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Received: 19 May 2010
Published: 29 July 2011
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