Design and Construction of a Pair of Cooperating Autonomous Mobile Robots

Abstract

iii ABSTRACT Humans have been using machines to assist moving large and heavy items for a long time. When a larger object needs to be shifted, a larger and more powerful machine is built. This significantly limits the operating environment and the number of potential applications, while the costs scale with the machine size. Contrary to this conventional trend is the idea of using multiple robots to cooperatively perform tasks that are difficult for a solitary robot or machine to achieve, such as carrying a long or flexible object. Cooperating robots offer many additional benefits such as increased manoeuvrability and efficiency. This thesis details the design and construction of two autonomous mobile platforms. Designed for outdoor use using a tricycle design, the robot platforms incorporate onboard features including a CPU, power supply, wireless communication, global positioning system (GPS), infrared range finders, and shaft encoders; with provisions for an array of other sensor types to be added. The mobile robots will be used for future research into cooperative behaviour by the Mechatronics Group at the University of Waikato.Humans have been using machines to assist moving large and heavy items for a long time. When a larger object needs to be shifted, a larger and more powerful machine is built. This significantly limits the operating environment and the number of potential applications, while the costs scale with the machine size. Contrary to this conventional trend is the idea of using multiple robots to cooperatively perform tasks that are difficult for a solitary robot or machine to achieve, such as carrying a long or flexible object. Cooperating robots offer many additional benefits such as increased manoeuvrability and efficiency. This thesis details the design and construction of two autonomous mobile platforms. Designed for outdoor use using a tricycle design, the robot platforms incorporate onboard features including a CPU, power supply, wireless communication, global positioning system (GPS), infrared range finders, and shaft encoders; with provisions for an array of other sensor types to be added. The mobile robots will be used for future research into cooperative behaviour by the Mechatronics Group at the University of Waikato. iv Design and Construction of a Pair of Cooperating Autonomous Mobile Robots