Autonomous mobile robot with independent control and externally driven actuation

Hanlin Wang, Michael Rubenstein

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

Complexity, cost, and power requirements for actuation of individual robots are large factors in limiting the size of robotic swarms. Here we present a prototype robotic system that allows for externally powered motion in 2D without sacrificing individual autonomy, which simplifies the robot hardware, possibly enabling larger swarm sizes. This is accomplished using a table surface that is moving in an orbital fashion, and where robots can move to any point on the table surface simply through a series of carefully timed attachment and detachment steps. We present a model for the robot's motion, and use this model to create a motion controller that allows the robot to move from its current position to any other position on the table in approximately a straight line. We show this controller working in simulation as well as on an experimental hardware system.

Original languageEnglish (US)
Title of host publicationIROS 2016 - 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3647-3652
Number of pages6
ISBN (Electronic)9781509037629
DOIs
StatePublished - Nov 28 2016
Event2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016 - Daejeon, Korea, Republic of
Duration: Oct 9 2016Oct 14 2016

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2016-November
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016
CountryKorea, Republic of
CityDaejeon
Period10/9/1610/14/16

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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