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http://dx.doi.org/10.5391/JKIIS.2010.20.3.311

A Navigation Algorithm of Modular Robots with 3 DOF Docking Arm in Uneven Environments  

Na, Doo-Young (한경대학교 생물환경.정보통신 대학원)
Min, Hyun-Hong (한경대학교 생물환경.정보통신 대학원)
Lee, Chang-Seok (한경대학교 생물환경.정보통신 대학원)
Noh, Su-Hee (한경대학교 생물환경.정보통신 대학원)
Moon, Hyung-Pil (성균관대학교 기계공학과)
Jung, Jin-Woo (동국대학교 컴퓨터공학과)
Kim, Yong-Tae (한경대학교 정보제어공학과, IT융합기술연구소)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.20, no.3, 2010 , pp. 311-317 More about this Journal
Abstract
In the paper, we propose an improved mobility method of modular robots by physical docking in the uneven environments. The modular robot system consists of autonomous docking device, 3 DOF robotic arm, motion controller, and main controller. Real-time location and direction of the robot are estimated using inner GPS and they are used to control direction and path of each robot for physical docking between modular robots. We design a navigation algorithm of modular robot using physical docking and cooperative navigation in the environment with broken road and low stair. The proposed method is verified by navigation experiments of three developed modular robots in the uneven environments.
Keywords
Modular robots; cooperative movement; physical docking; autonomous docking; docking control;
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