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