DISTRIBUTED MOBILE ROBOTS
Tariq Sattar, TEJAS K PATEL, Hernando León-Rodríguez · 2009
The aim of this work is to develop a team of mobile robots that are linked mechanically to each other by a system of physical links and rotary sensors. They sense the rotation and motion of neighbouring robots and move in response to preserve the collective desired configuration of the robots. Only one robot in the team is given rotation and translation instructions. The others simply follow this robot by sensing its motion using the sensors comprising of the links and rotary transducers. The sensors are used to preserve the collective desired configuration despite errors in the motion due to non-identical dynamics and control systems of individual robots. In this paper we investigate one possible arrangement of links and sensors to control the situation described above and present the initial simulation results of motion trajectories obtained for the distributed robots arranged in vertical and horizontal serial-link chains.