An approach to autonomous microrobot - micro line trace robot with reflex algorithm

Abstract

A micro-line-trace robot is a micro-autonomous mobile robot that runs along a black line using a pair of photo-sensor. The micro-line-trace robot consists of a pair of photo-sensors, a pair of electromagnetic actuators and a programmable logic device. The photo-sensor includes logic circuits and an amplifier, and gives an outputs of TTL level signals based on the intensity of illumination. The programmable logic device is constructed by AND gates and OR gates, and is able to be programmed by the user. The electromagnetic actuator consists of an electric coil, a leg and an inclining cloth that converts from the vibration of the leg into a propelling force. The micro-line-trace robot made with these functions can autonomously trace the black free-hand drawn line.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>