Self-Alignment Approach Based on Cooperative Behaviors for the Docking Process of Modular Mobile Robots

Author

Quiñonez, Yadira ; Baca, José ; De Lope, Javier ; Ferre, Manuel ; Aracil, Rafael

Author_Institution

Centro de Autom. y Robot., Univ. Politec. de Madrid, Madrid, Spain

fYear

2010

fDate

Sept. 28 2010-Oct. 1 2010

Firstpage

445

Lastpage

450

Abstract

In this paper, a self-alignment approach based on cooperative behaviors is proposed for the docking process of modular mobile robots. Each cooperative behavior is modeled by means of artificial neural networks (ANN) to achieve a common goal. Based on RobMAT a modular robot system in the mobile configuration, two strategies are presented. For this purpose a robotic device simulator (Player) and a multi-robot simulation in 2D (Stage) are used. Experimental results display differences between both strategies and benefits in time execution.

Keywords

cooperative systems; mobile robots; multi-robot systems; neurocontrollers; self-adjusting systems; ANN; RobMAT; artificial neural networks; cooperative behaviors; docking process; mobile configuration; modular mobile robots; modular robot system; multirobot simulation; robotic device simulator; self-alignment approach; Artificial neural networks; Connectors; Legged locomotion; Robot sensing systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Electronics, Robotics and Automotive Mechanics Conference (CERMA), 2010

Conference_Location

Morelos

Print_ISBN

978-1-4244-8149-1

Type

conf

DOI

10.1109/CERMA.2010.56

Filename

5692378