Mobile Robot Platoon Control for Connected Reconfiguration
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Solution Overview
Problem
Existing robot platoon control methods are limited in their ability to maintain connectivity during transformation, especially when there are non-connected spots in the common parts of initial and goal positions, and they lack guarantees that robots within the same unit remain connected post-transformation.
Innovation Solution
A mobile robot system that includes a position distance calculation command transmission unit, a reply position distance calculation command transmission unit, and a head robot unit determination unit, which ensures that robots in the same unit remain connected by adjusting their positions and movements to maintain connectivity during platoon transformation, even with non-connected spots in the common parts of initial and goal positions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If robot platoon transformation is performed using extension/contraction surface operation among cubic robots, then the absolute position of each robot can be determined and no additional equipment for position measurement is required, but the method is limited to specific platoon formations (2×2×2) and cannot guarantee that robots in the same unit remain connected after transformation
Solution Approach 1:
The patent segments the robot platoon into discrete robot units that can be individually tracked and managed. Each robot unit is treated as a distinct entity with identifiable characteristics, allowing the system to monitor and ensure connectivity between units during transformation operations. This segmentation enables the platoon to maintain structural integrity while performing complex reconfiguration maneuvers.
Solution Approach 2:
The patent implements preliminary action by pre-establishing connectivity relationships between robot units before transformation begins. The system identifies and records which robots should remain connected, then uses this information to guide the transformation process, ensuring that connectivity constraints are satisfied throughout the reconfiguration.
2Adaptability or versatility
If distribution control method is used to enable platoon transformation with non-connected spots in common positions, then flexibility in transformation is improved, but the complexity of control algorithms increases
Solution Approach 1:
The control algorithm is segmented into distinct functional modules: connectivity determination modules that identify valid connections, transformation planning modules that generate reconfiguration sequences, and execution modules that carry out individual robot movements. This modular approach reduces overall complexity while maintaining flexibility.
Solution Approach 2:
The patent introduces intermediary data structures and control variables that mediate between the high-level transformation goals and low-level robot actions. These intermediaries include connectivity graphs, transformation states, and constraint satisfaction variables that simplify the control logic while enabling flexible transformation sequences.
3Device complexity
If robots move while maintaining contact with one another like an amoeba, then the absolute position can be determined from relative positional relationships, but the platoon transformation is limited to specific operation types (extension/contraction or surface shear)
Solution Approach 1:
The patent implements dynamic transformation operations that allow robot units to change their relative positions and orientations during platoon reconfiguration. Unlike static extension/contraction or surface shear operations, the dynamic approach enables arbitrary movement sequences while maintaining connectivity constraints, significantly increasing the variety of achievable transformations.
Solution Approach 2:
The system changes multiple parameters simultaneously during transformation, including robot positions, orientations, and connectivity relationships. By allowing these parameters to vary dynamically rather than following fixed operation patterns, the platoon can achieve diverse transformation goals while maintaining the benefit of relative position-based navigation.
Data Source
AI summary
A mobile robot includes a position distance calculation command transmission unit 1, a position distance calculation command transfer unit 2, a reply position distance calculation command transmission unit 3, a direction storage unit 4, a reply position distance calculation command transfer unit 5, a first head robot unit determination command transmission unit 6, a robot unit determination unit 7, a first movement unit 8, a second movement unit 9, a next head robot unit selection command transmission unit 10 and a second head robot unit determination command transmission unit 11, for example.