Laser Communications Prototyping for the Group of Mobile Robots

摘要

Laser communications in case of a group of mobile robots communication in extreme conditions can be considered as an alternative or supplement to the radio. Thus, this work aims to develop a laser communication terminal for a mobile robot and with the particular focus on building the pointing, acquisition and tracking (PAT) system. During the present work, the idea of the laser terminal design was proposed based on the analysis of requirements and the model of data transmission between two mobile robots. The mathematical model of the PAT control system and stability analysis showed the feasibility of the design. A separate part of the work was also dedicated to the development of the robot orientation determination system and PAT stabilization system. The prototype and all necessary algorithms were implemented and the hardware and software were created. At this point, the laser terminal has been tested and has achieved acceptable performance of 5 degrees of accuracy under existing constraints. The paper was partially