A modular mobile robot for multi-robot applications

摘要

This paper presents the process of designing and constructing a desktop-size mobile robot aimed at multi-robot applications. We present the mechanical structure, the electronics and the software, focusing on the modularity concept, which determines the educational values of the entire design. The decision process underlying the design is presented in details: choosing motors, sensors and crucial electronics components, implementing communication buses, and construction of the additional modules. Possible multi-robot applications of this design are outlined at the end.