Path Planning and Control for Modular Self-assembling Robots on Rough Terrain

Some insects are born socially, such as bees and ants. They could combine multiple individuals into special shape for other inserts to pass the complex or dangerous natural environment. In this paper, referring to the swarm characteristics in insects, a path optimization algorithm for modular self-assembling robots is designed. Modular self-assembling robots are composed of multiple independent motion modules that can be connected to each other. When one of them are facing complex environment that is difficult to pass though, they will combine themselves into a shape that adapts the complex environment, and smoothly pass the obstacles ahead.