Encoder-free odometric system for autonomous microrobots
نویسنده
چکیده
This paper describes an odometric system for autonomous microrobots based on the optical properties of a motor–wheel transmission for motion feedback. We demonstrate that infra-red light, reflected from this mechanical system, shows distinctive periodic changes of amplitude, correlated with the motion of the robot. Real-time odometric signal processing, performed on a small embedded microcontroller, allows accurate movement detection for each wheel and is used for motion control, self-calibration, and calculation of differential and absolute velocity, displacement and rotation. We demonstrate some applications of this on-board odometric system in swarm robot experiments. This approach can also be applied to other industrial or academic mechatronic systems, where size or computational power are limiting factors. 2012 Elsevier Ltd. All rights reserved.
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