论文标题
用于停靠的Modboats任意配置的集体控制
Collective Control for Arbitrary Configurations of Docked Modboats
论文作者
论文摘要
Modboat是一种低成本，不足的模块化机器人，能够进行表面游泳，对接到其他模块，并仅使用单个电动机和两个被动式拖鞋脱离它们。通过在某些配置中引起相邻模块的尾巴之间的故意自我碰撞来实现撤消；但是，当需要集体游泳作为一个连接的组件时，这将成为一个挑战。在这项工作中，我们制定了一种集中式控制策略，以允许\ textit {任意}配置Modboats作为单个可通道的车辆游泳，并保证不会偶然撤离。我们还提供了一个简化的模型，用于在用于实时控制的配置中以船之间的流体动力相互作用。我们在实验上证明，我们的控制器的性能很好，对于各种尺寸和形状的配置是一致的，并且可以同时控制潮流速度和偏航角。游泳时保持可控性，但是纯偏航控制会导致侧向运动，而横向运动不能被提出的框架抵消。
The Modboat is a low-cost, underactuated, modular robot capable of surface swimming, docking to other modules, and undocking from them using only a single motor and two passive flippers. Undocking is achieved by causing intentional self-collision between the tails of neighboring modules in certain configurations; this becomes a challenge, however, when collective swimming as one connected component is desirable. In this work, we develop a centralized control strategy to allow \textit{arbitrary} configurations of Modboats to swim as a single steerable vehicle and guarantee no accidental undocking. We also present a simplified model for hydrodynamic interactions between boats in a configuration that is tractable for real-time control. We experimentally demonstrate that our controller performs well, is consistent for configurations of various sizes and shapes, and can control both surge velocity and yaw angle simultaneously. Controllability is maintained while swimming, but pure yaw control causes lateral movement that cannot be counteracted by the presented framework.
