Kobot: A mobile robot designed specifically for swarm robotics research
Kobot: A mobile robot designed specifically for swarm robotics research
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Kobot：专为群体机器人研究而设计的移动机器人
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
Levent Bayõndõr
中科院分区：
文献类型：
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作者：
A. E. Turgut;Levent Bayõndõr
作为群体机器人系统的一部分使用的移动机器人的要求与作为独立使用的移动机器人的要求不同。在本文中，我们首先提供了一个愿望清单，将在移动机器人平台中寻求用于群体机器人研究的需求。然后，我们将Kobot描述为一个新的移动机器人平台，旨在满足这些需求。具体来说，我们首先详细描述了一种基于红外的短程传感系统，该系统可以在最小的环境照明条件和其他机器人干扰下进行近距离测量。通过系统实验对系统的性能进行了评价。然后，我们提出了一种基于IEEE802.15.4/ zigbee的通信系统，用于开发一个可以对机器人进行一对一或并行无线编程的系统。最后，我们提供了Kobot机器人群的快照。本文回顾和评估了现有的机器人平台，这些平台是为群体机器人研究开发的，或者正在使用，与Kobot平台进行比较，并得出结论。
The requirements of a mobile robot to be used as part of a swarm robotic system differs from that of a mobile robot to be used as stand-alone. In this paper, we first provide a wishlist of requirements that would be sought for in mobile robot platforms to be used in swarm robotics research. Then, we describe Kobot, as a new mobile robot platform which is designed to satisfy as much of these requirements. Specifically, we first describe in detail, an infrared-based short-range sensing system that can make proximity measurements with minimal interference from environmental lighting conditions as well as from other robots. The performance of the system, is evaluated with systematic experiments. Then, we present an IEEE802.15.4/ZigBee-based communication system, which is used to develop a system, that can wirelessly program robots either one-by-one or in parallel. Finally, we provide snapshots from the flocking of a Kobot robotic swarm. The paper, reviews and evaluates existing robot platforms that are developed for, or being used in, swarm robotics research in comparison with the Kobot platform and concludes.