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A Reconfigurable Modular Vehicle Control Strategy Based on an Improved Artificial Potential Field

The reconfigurable modular vehicle group can transform into different configurations according to different requirements to be competent for various tasks and scenarios and to facilitate the utilization of robots in unstructured scenarios. Efficient and effective reconfiguration strategies and path planning are essential for improving the performance of modular vehicle groups. First, a multi-sensing four-wheel-drive Mecanum vehicle was built, which was equipped with UWB positioning (based on wireless carrier communication technology), communication based on ESP8266 modules, ultrasonic ranging and a magnetic structure. Second, concerning the indoor storage environment, a UWB two-way bilateral ranging and positioning system was designed, and the experimental accuracy for positioning could reach ±0.1 m. Third, a path planning strategy based on the improved artificial potential field method was adopted. According to the target configuration as well as the obstacle avoidance requirements, the motion space was converted into a gravitational field and a repulsive force field, and the vector superposition of the gradients was used for the path planning of each vehicle in turn. Depending on the reconfiguration command and the connection matrix, the magnetic structure would strengthen or disconnect the vehicle group configuration. Finally, the vehicle reconfiguration from the stochastic dispersion state to the target configuration and the transition between different configurations were accomplished using the proposed strategy in both simulations and experiments.