A multi-robot educational and research framework

摘要

Robots have greatly transformed human’s life. Multi-disciplinary research in robotics essentially demands having sophisticated frameworks with diverse range of capabilities ranging from simple tasks like testing of control algorithms to handling complex scenarios like multiple robot coordination. The present research addresses this demand by proposing a reliable, versatile and cheap platform enriched with enormous features. The framework has been conceptualized with three robots having different drive mechanisms, sensing and communication capabilities. The proposed ‘Wanderbot’ family consists of ForkerBot, MasterBot and HexaBot. The ForkerBot is a four-wheeled robot equipped with ultra sonic range finder, wheel encoder, bump sensor, temperature sensor, GSM, GPS and RF communication modules. The robot, having a payload capacity of 8 pounds, supports both Differential and Ackerman drive mechanisms and can be used to validate advanced obstacle avoidance algorithms. The MasterBot is also a wheeled robot with an on-board camera and is skid-steered. The robot finds potential in research on image processing and computer vision and in analysis and validation of algorithms requiring high-level computations like complex path traversal. The third member in the Wander family, HexaBot, is a six-legged robot, which is able to exhibit the movement of tripod gait and can be used for investigating walking and climbing algorithms. The three members of Wander family can communicate with one another, thus making it a good candidate for research on coordinated multi-robots. Additionally, such a prototyped platform with vast attractive features finds potential in an academic and vocational environment.