Modular robot chain type self-reconstruction sequence planning method

The embodiment of the invention provides a modular robot chain type self-reconstruction sequence planning method, which comprises the following steps: describing the topology of a modular robot, deconstructing a topological graph of a configuration before and after the reconstruction of the modular robot, and obtaining a topological sub-chain set before and after the reconstruction of the modular robot; designing a topological subchain comparison strategy according to the topological subchain set before and after reconstruction of the modular robot, and obtaining an initial self-reconstruction sequence of the modular robot; and according to the initial self-reconfiguration sequence of the modular robot, designing a self-reconfiguration sequence re-planning strategy by considering the chain type self-reconfiguration motion constraint of the modular robot, and obtaining a self-reconfiguration sequence meeting the motion requirement of the robot. According to the technical scheme provided by the embodiment of th