Implementation of an IR approach for autonomous docking in a self-configurable robotics system

Abstract

This paper presents an IR approach to the development of a sensor system which enables robots to autonomously dock with each other to form complex morphologies.
\nThe system includes three sub-units with different operational ranges: a short range proximity detection unit,
\na mid-range beacon detection unit and a longer range local
\ncommunication unit. Fixed-point digital filters are implemented to reduce the effect of environmental noise. All sensors are controlled and processed using an 8-bit low power consumption micro-controller. The system provides a low cost, low power consumption, relatively independent module for the robot platform. The designs are fully tested on real mobile robot testbeds and we demonstrate that precision docking can be achieved even using very simple controllers.