Development of autonomous miniature mobile robot for swarm applications
Biological swarm is a fascinating behavior of nature that has been successfully applied to solve human problems especially for robotics application. The high economical cost and large area required to execute swarm robotics scenarios does not permit experimentation with real robots. Modeling and...
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| Format: | Thesis |
| Language: | English |
| Published: |
2010
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| Online Access: | http://psasir.upm.edu.my/id/eprint/115480/ http://psasir.upm.edu.my/id/eprint/115480/1/115480.pdf |
| Summary: | Biological swarm is a fascinating behavior of nature that has been successfully
applied to solve human problems especially for robotics application. The high
economical cost and large area required to execute swarm robotics scenarios does not
permit experimentation with real robots. Modeling and simulation of mass numbers
of these robots are extremely complex and often inaccurate. This research describes
the design decision and presents the development of an autonomous miniature mobile
robot called AMiR, for swarm robotics research and education. Two criteria for
designing a swarm platform are the feasibility of mobile robot as an autonomous
system and the amenability of inter-robots behavior in swarm applications. In
the design phase, suitable components based on three main principles which are
functional ability, low-cost, and local modules were selected. Several common
platforms were studied and AMiR prototype was designed. The large number of
robots in these systems allows designing of an individual AMiR unit with simple
perception and mobile abilities. Hence a large number of robots can be easily and
economically feasible to be replicated (around 310 MYR per unit). AMiR has been
designed as a complete platform with supporting software development tools for
robotics education and researches. Inter-robot communication is a significant issue
in swarm applications. Short range infrared communication was selected to transmit
robot’s messages. Two different modulation which are amplitude and frequency shift
keying techniques were implemented on AMiR and features of each technique were
discussed. Additional modules are mounted on top of main board to implement
several behaviors inspired from nature. Three different swarm scenarios based on
collective behaviors were performed and effective parameters in each behavior were
discussed. The experimental results demonstrate the feasibility of using this robot to
implement swarm robotic applications. |
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