Figure 2 Schematic diagram of Kobot’s control system.
Related Figures (7)
Ali E. Turgut, Fatih Gokce, Hande Celikkanat, Levent Bayindir and Erol Sahin Kobot: A mobile robot designed specifically for swarm robotics research Figure 1: (a) The exploded view of Kobot, equipped with the optional omni-directional vision system. (b) The positioning of the IR sensors, and their numbering. (c) The basic version of Kobot. The cap of the robot is removed, exposing the short-range sensing board and the main controller and the wireless communication boards stacked on top. Figure 3: Block diagram of an individual sensor. ‘igure 4: Timing diagram of an individual sensor is illustrated for detecting an obstacle it Level 3. The sensor is first initialized to kin-detection state with the command sent yy the main sensor controller after the interrupt and it starts scanning the environment o detect any kin-robots. No IR signal is received during this state, meaning that there s no robot in the sensing range. The sensor will then try to detect the obstacle and neasure the distance. In the proximity-sensing state, the sensor begins with scanning the nvironment to detect any sensors making simultaneous measurement. The sensor receives . signal and waits until the other sensor finishes the measurement. Since no IR signal is eceived during 6.7ms (maximum possible time between two consecutive IR signals), the ensor starts its measurement by varying the led power to determine the minimum level it which the radiated signal reflects back. After the third interrupt, the sensor is switched o data-transmission state and sends the result to the main controller. Figure 5: (a) The experimental setup for the experiments is sketched. The circle at the left lower corner indicates the robot which is used to make the sensing measurements. Samples are collected from the front sensor while the other sensors are also turned on. For each of the grid positions shown in the figure, a circular object (be it an obstacle or another robot) is placed, and the sensor readings are recorded. (b) The gray scale image drawn according to the average range values obtained from the range test of obstacle detection. (d) The gray scale image drawn according to the average range values obtained from an active robot. (c) The gray scale image shows the success rate in the detection of a robot. Figure 6: (a)A snapshot from the flocking behavior of Kobots on the simulator (b)A scene showing the real robots performing the flocking behavior
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