Bristle-bots in swarm robotics - approaches on agent development and locomotion

摘要

Bristle-bots are vibration-driven mobile robots characterized by small size, high speed, simple design and low costs for production and application - qualities which are advantageous for agents of swarm robotics. Current studies have focused on their natural behaviour on confined spaces, navigation capabilities through pipes, and mathematical modelling of the bristle-based motion, however, trajectory generation capabilities were not evaluated. Therefore, this paper presents our robot “Donipodis”, a mobile micro-robot for swarm robotics research. Our robot uses a single vibro-motor controlled over an 8-bit microprocessor that generates locomotion using bristles. It possess two IR receivers at its front as antennae and one IR transmitter at its back for peer-to-peer communications, an RGB colour identifier and IrDA communication for master host programming. A modelling of the micro-robot was also developed. Simulations and experimental results show a proper modelling of the locomotion and performance over displacement with slightly curved trajectories. Translation and rotation speeds characterization results show potential for controllable trajectory generation by varying the motor speed properties (PWM frequency and duty cycle) and direction.