建立了子机器人的控制模型,提出了分散式控制与集中式控制相结合的复合控制体系。采用动态分配ID号和由ID号确定机器人组中领导者的机制,建立了有领导者的机器人组的协作方法。其中,领导者与监控平台之间采用无线通讯,机器人组内采用CAN(control area network)总线传递控制信号。同时采用组内基于状态表匹配的控制方式。两个机器人组合利用以上机制,通过相互协调完成差速转弯的实验验证了该控制方法的可行性。
A portable shape-shifting mobile robot system named as Amoeba Ⅱ（A-Ⅱ） is developed for the urban search and rescue application. It is designed with three degrees of freedom and two tracked drive systems. This robot consists of two modular mobile units and a joint unit. The mobile unit is a tracked mechanism to enforce the propulsion of robot. And the joint unit can transform the robot shape to get high environment adaptation. A-Ⅱ robot can not only adapt to the environment but also change its body shape according to the locus space. It behaves two work states including the linear state （named as I state） and the parallel state （named as Ⅱ state）. With the linear state the robot can climb upstairs and go through narrow space such as the pipe, cave, etc. The parallel state enables the robot with high mobility on rough ground. Also, the joint unit can propel the robot to roll in sidewise direction. Two modular A-Ⅱ robots can be connected through jointing common interfaces on the joint unit to compose a stronger shape-shifting robot, which can transform the body into four wheels-driven vehicle. The experimental results validate the adaptation and mobility of A-Ⅱ robot.
