This paper describes the design and development of a platform for research in cooperative mobile robotics. The structure and mechanics of the vehicles are based on R/C cars. The vehicle is rendered mobile by a DC motor and servo motor. The perception of the robot's environment is achieved using IR sensors and a central vision system. A laptop computer processes images from a CCD camera located above the testing area to determine the position of objects in sight. This information is sent to each robot via RF modem. Each robot is operated by a Motorola 68HC11E micro-controller, and all actions of the robots are realized through the connections of IR sensors, modem, and motors. The intelligent behavior of each robot is based on a hierarchical fuzzy-rule based approach.


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    Title :

    Autonomous Mobile Platform for Research in Cooperative Robotics


    Contributors:
    Daemi, Ali (author) / Pena, Edward (author) / Ferguson, Paul (author)


    Publication date :

    1998-02-22


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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