Intelligent algorithm-based cellular robot self-reconfiguration step planning research

Cellular robots have the advantages of fast mission response, in-orbit installability and high reliability. It has a broad application prospect in the future development of multimodal spacecraft. The method of reconfiguration planning steps is designed for the self-reconfiguration planning problem of the cellular spacecraft. Firstly, the description method of the spatial configuration of the cellular spacecraft is designed according to the cellular characteristics. Secondly, the training method of reconfiguration is established according to the method of PPO+ICM. Finally, the reconfiguration algorithm was tested with 8 modules of cells with the help of Unity3D. The simulation results show that the method meets the reconfiguration step planning requirements of the cellular spacecraft.