Abstract
A new self-assembly modular robot (SMR) SambotII is developed based on SambotI, which is a previously-built hybird type SMR that is capable of autonomous movement and self-assembly. As is known, SambotI only has limited abilities of environmental perception and target recognition, because its STM-32 processor cannot handle heavy work, like image processing and path planning. To improve the computing ability, an x86 dual-core CPU is applied and a hierarchical software architecture with five layers is designed. In addition, to enhance its perception abilities, a laser-camera unit and a LED-camera unit are employed to obtain the distance and angle information, respectively, and the color-changeable LED lights are used to identify different passive docking surfaces during the docking process. Finally, the performances of SambotII are verified by docking experiments.
| Original language | English |
|---|---|
| Article number | 1719 |
| Journal | Applied Sciences (Switzerland) |
| Volume | 8 |
| Issue number | 10 |
| DOIs | |
| State | Published - 21 Sep 2018 |
Keywords
- Autonomous docking
- Environmental perception
- Modular robots
- Self-assembly robots
- Target recognition
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