Optimization of Motion Distribution for Modular Robots Based on Grey Wolf Algorithm

Modular robots are limited in terms of working duration and performance due to the short-comings of existing motion planning algorithms in energy consumption allocation. This paper proposes an optimization strategy for the motion distribution of modular robots based on the Grey Wolf Optimization (GWO) algorithm, aiming to improve the energy utilization and working duration of the robot. This paper emphasizes the energy consumption of each module as a critical metric, and addresses a high-dimensional discrete binary optimization problem based on the GWO algorithm to achieve balanced energy distribution, thereby significantly extending the working duration of the robot. The experimental part verifies the effectiveness of the proposed method for modular robots with different topological structures and different motion trajectories. The results show that the optimization strategy can significantly reduce the energy consumption difference between modules and increase the working duration.