Autonomous docking based on infrared sensors for mobile self-reconfigurable relay microrobots

A simple autonomous docking method based on infrared sensors for mobile self-reconfigurable relay microrobots is proposed in the paper. The IR guidance system composed of an IR receiver and four IR emitters is designed, analyzed and developed. The autonomous docking control method based on centering...

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Bibliographic Details
Published in高技术通讯（英文版） Vol. 19; no. 1; pp. 18 - 23
Main Author 张大伟 Li Zhenbo Chen Jiapin
Format Journal Article
LanguageEnglish
Published Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro and Nano Science and Technology, Shanghai JiaoTong University, Shanghai 200030, P.R.China 01.03.2013
Subjects
微型机器人
移动
红外传感器
红外制导系统
红外发射器
继电器
自主对接
自重构
self-reconfiguration
docking
infrared
autonomous
mobile microrobot
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ISSN1006-6748
DOI10.3772/j.issn.1006-6748.2013.01.004

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Summary:A simple autonomous docking method based on infrared sensors for mobile self-reconfigurable relay microrobots is proposed in the paper. The IR guidance system composed of an IR receiver and four IR emitters is designed, analyzed and developed. The autonomous docking control method based on centering alignment and dynamic motion planning is adopted so that it has high efficiency and reliability. Two basic microrobot prototypes are developed, and related docking experiments are done to verify the feasibility of the approach.
Bibliography:A simple autonomous docking method based on infrared sensors for mobile self-reconfigurable relay microrobots is proposed in the paper. The IR guidance system composed of an IR receiver and four IR emitters is designed, analyzed and developed. The autonomous docking control method based on centering alignment and dynamic motion planning is adopted so that it has high efficiency and reliability. Two basic microrobot prototypes are developed, and related docking experiments are done to verify the feasibility of the approach.
Zhang Dawei , Li Zhenbo, Chen Jiapin （ Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro and Nano Science and Technology, Shanghai JiaoTong University, Shanghai 200030, P. R. China）
mobile microrobot, self-reconfiguration, autonomous, docking, infrared
11-3683/N
ISSN:1006-6748
DOI:10.3772/j.issn.1006-6748.2013.01.004