Based on the ROS robot operating system and its included function package, this paper aims at the development of cell robot , and the inertial measurement elements, laser radar and the monocular camera on the cell module are used to determine the position and posture information and the surrounding environment information, and the cell robot reconstruction operation is completed. In reconstructing the Gazebo simulation reconfiguration platform, the algorithm of self positioning, map building, path planning, autonomous navigation and visual attitude adjustment are verified through the reconstruction of cell robot, and the reconstruction of different kinds of cell modules and the reconstruction of organ level are completed. The self-assembly of cell robots is realized according to the configuration of task planning. The reconfiguration scheme is feasible.