Encoder-free odometric system for autonomous microrobots

Kernbach, Serge

doi:10.1016/j.mechatronics.2012.05.004

Cited by 7 publications

(2 citation statements)

References 17 publications

(19 reference statements)

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“…Since encoders can introduce significant estimation inaccuracies, others have attempted to circumvent their use. A recent approach to encoder-free odometry has been proposed in [5]. In that implementation, however, complex signal processing is required to compute motor velocities.…”

Section: A Locomotionmentioning

confidence: 99%

The GRITSBot in its natural habitat - A multi-robot testbed

Pickem

Lee

Egerstedt

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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Current multi-agent robotic testbeds are prohibitively expensive or highly specialized and as such their use is limited to a small number of research laboratories. Given the high price tag, what is needed to scale multi-agent testbeds down both in price and size to make them accessible to a larger community? One answer is the GRITSBot, an inexpensive differential drive microrobot designed specifically to lower the entrance barrier to multi-agent robotics. The robot allows for a straightforward transition from current ground-based systems to the GRITSBot testbed because it closely resembles expensive platforms in capabilities and architecture. Additionally, the GRITSBot's support system allows a single user to easily operate and maintain a large collective of robots. These features include automatic sensor calibration, autonomous recharging, wireless reprogramming of the robot, as well as collective control.

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Section: A Locomotionmentioning

confidence: 99%

The GRITSBot in its natural habitat - A multi-robot testbed

Pickem

Lee

Egerstedt

2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…That way and from their successful realizations, they are quite suitable for many engineering applications [4][5][6][7][8]. For instance, traditionally the control of robot systems has been implemented using computer program units (CPUs) [9], microcontrollers [10], etc. However, recently some researchers propose using chaotic oscillators to control autonomous mobile robots [11].…”

Section: Introductionmentioning

confidence: 99%

Application of a Chaotic Oscillator in an Autonomous Mobile Robot

Tlelo‐Cuautle

Ramos-López

Sanchez-Sanchez

et al. 2014

Journal of Electrical Engineering

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Terrain exploration robots can be of great usefulness in critical navigation circumstances. However, the challenge is how to guarantee a control for covering a full terrain area. That way, the application of a chaotic oscillator to control the wheels of an autonomous mobile robot, is introduced herein. Basically, we describe the realization of a random number generator (RNG) based on a double-scroll chaotic oscillator, which is used to guide the robot to cover a full terrain area. The resolution of the terrain exploration area is determined by both the number of bits provided by the RNG and the characteristics of step motors. Finally, the experimental results highlight the covered area by painting the trajectories that the robot explores.

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