Autonomous docking based on infrared sensors for mobile self-reconfigurable relay microrobots  

作　　者：张大伟 Li Zhenbo Chen Jiapin 

机构地区：[1]Key Laboratory for Thin Film and Microfabrication of Ministry of Education,Research Institute of Micro and Nano Science and Technology,Shanghai JiaoTong University

出　　处：《High Technology Letters》2013年第1期18-23,共6页高技术通讯（英文版）

基　　金：Supported by the National High Technology Research and Development Programme of China(No.2007AA04Z340)

摘　　要：A simple autonomous docking method based on infrared sensors for mobile self-reconfigurable relay microrobots is proposed in the paper.The IR guidance system composed of an IR receiver and four IR emitters is designed,analyzed and developed.The autonomous docking control method based on centering alignment and dynamic motion planning is adopted so that it has high efficiency and reliability.Two basic microrobot prototypes are developed,and related docking experiments are done to verify the feasibility of the approach.A simple autonomous docking method based on infrared sensors for mobile self-reconfigurable relay microrobots is proposed in the paper. The IR guidance system composed of an IR receiver and four IR emitters is designed, analyzed and developed. The autonomous docking control method based on centering alignment and dynamic motion planning is adopted so that it has high efficiency and reliability. Two basic microrobot prototypes are developed, and related docking experiments are done to verify the feasibility of the approach.

关 键 词：mobile microrobot SELF-RECONFIGURATION AUTONOMOUS DOCKING INFRARED 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]