自重构微型移动机器人红外定位与对接  

Infrared location and connection between self-reconfigurable mobile microrobot

作　　者：蔡方伟[1] 张大伟[1] 李振波[1] 陈佳品[1] 

机构地区：[1]上海交通大学微纳科学技术研究院薄膜与微细技术教育部重点实验室,上海200240

出　　处：《仪表技术与传感器》2012年第9期78-80,共3页Instrument Technique and Sensor

基　　金：国家自然科学基金(61175100)

摘　　要：自动对接一直被认为是自重构机器人领域内最具有挑战性的一个研究难点,是其区别于可重构机器人的重要特征。文中给出了一种简单的基于红外传感的对接方法,用于自重构微型移动机器人。设计了由1个红外接收器和4个红外发射器组成的红外定位系统。通过采用红外集中对准和动态路径规划的控制方法,使微机器人之间的自动对接具有很高的效率和可靠性。通过两个微机器人之间的对接实验,验证了该方法的可行性。Automatic connection is always considered as one of the most challenging research problems in self-reconfignrable robotic field, and it is also the important feature different from reconfigurable robot. This paper presented a simple autonomous con- nection method based on infrared sensors for mobile self-reconfigurablc microrobot. The IR location system composed of a IR receiv- er and four IR emitters was designed. The automatic connection control method based on centering alignment and dynamic motion planning was adopted so that it has high efficiency and reliability. Two basic microrebot prototypes were developed, and related con- nection experiments between them were done to verify the feasibility of the approach.

关 键 词：自重构 微型移动机器人 对接 红外 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]