Formation Exchange Control of Team Robot System
Abstract:The article presents multiple formation exchange control of the team robot system using minimum displacement techniques. The formation models have row formation, column formation, diagonal formation I and diagonal formation II. The supervised computer implements formation exchange from one model to another model, and controls the mobile robots to present the movement scenario. The mobile robot has the shape of cylinder and its diameter, height and weight is 10 cm, 15 cm and 1.5 kg. The controller of the mobile robot is MCS-51 microchip. The mobile robot can acquires the detection signals from three IR sensor modules and two encoder modules to avoid obstacles and calculate movement displacement, and speaks the movement status using the voice driver module, and receives the command from the supervised computer, and transmits the status of environment to the supervised computer via wireless RF interface. We design the user interface of the team robot system to implement motion path for formation exchange on the experimental platform. The user interface can controls the multiple mobile robots to execute multiple formation exchange continuously. In the experimental results, mobile robots can receive the command from the supervised computer, and exchange the formation arrangement on the experimental platform from one model to another model, and avoid other mobile robots.
Document Type: Research Article
Publication date: 2012-07-01
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