Implementation of an IR approach for autonomous docking in a self-configurable robotics system

Liu, W. and Winfield, A. F. (2009) Implementation of an IR approach for autonomous docking in a self-configurable robotics system. In: Kyriacou, T., Nehmzow, U., Melhuish, C. and Witkowski, M., eds. Proceedings of Towards Autonomous Robotic Systems., 251 - 258

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Abstract

This paper presents an IR approach to the development of a sensor system which enables robots to autonomously dock with each other to form complex morphologies. The system includes three sub-units with different operational ranges: a short range proximity detection unit, a mid-range beacon detection unit and a longer range local communication unit. Fixed-point digital filters are implemented to reduce the effect of environmental noise. All sensors are controlled and processed using an 8-bit low power consumption micro-controller. The system provides a low cost, low power consumption, relatively independent module for the robot platform. The designs are fully tested on real mobile robot testbeds and we demonstrate that precision docking can be achieved even using very simple controllers.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:autonomous docking, robotics, self-configurable robotics
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:13252
Deposited By: Dr W. Liu
Deposited On:05 Nov 2010 16:24
Last Modified:23 Aug 2013 18:03

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