Design of docking positioning and navigation strategies for miniaturized self-assembled robots

Abstract

In order to explore the advantages of swarm intelligence and strong self-assembly deformation adaptability of swarm robots, a small docking positioning and navigation strategy for autonomous robots is presented in this paper. The robot has a polygonal shape. Based on monocular camera image recognition and ultrasonic sensor to achieve navigation docking. Realize group networking through ZigBee. Based on the configuration characteristics of the robot platform, a three-element configuration description method is proposed. Each robot individual is described by a vector, and the configuration of the robot platform is described in polar coordinates. In the process of constructing the configuration, the overall configuration data are updated through polar coordinate transformation. Then, the navigation strategy is planned through polar coordinate data. This method has small data quantity and convenient formation construction and reconstruction. For the formation of the whole array, the target configuration array is constructed by controlling the finite state machine.