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Electronic System and Software Architecture of Modular Reconfigurable Robot Module OMNIMO

100%
Kiliç A., Kapucu S.
|
EN
A robot is an electromechanical system, which is guided by software via electronic circuitry. In the absence of electronic systems, there is no way to make a connection between software and mechanical components. This means that all robotic systems require mechanical systems, electronic systems and software. OMNIMO, as a modular reconfigurable robot, has sophisticated electronic systems and software. Electronic system of OMNIMO includes controllers, actuators, transducers, communication units, regulators, batteries, user interface units and complementary components. In addition, OMNIMO is controlled by four different layers of software. In this paper, electronic hardware details, system integration and control software architecture of modular reconfigurable robot module OMNIMO are presented. In addition, adaptation of components and communication protocol details of hardware are given.
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Path Planning for Multiple Mobile Robots Using A* Algorithm

68%
Batik Garip Z., Karayel D., Ozkan S., Atali G.
Acta Physica Polonica A
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2017
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vol. 132
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issue 3
685-688
EN
One of the main problems in path planning for multiple mobile robots is to find the optimal path between two points so that robots can follow the shortest path and consume the least energy. Also, motion planning is important to avoid collisions if multiple mobile robots are running together within environments with obstacles. In this study, motion planning for multiple robots has been proposed. It is desired that robots could move in coordination with each other from the starting point to the destination point on a plane. The coordinates of the objects and mobile robots have been acquired using image processing with a single ceiling camera. The path planning for the shortest distance has been performed using A* algorithm in dynamic frame between robot-object and object-target point, respectively. A graphical user interface has been developed based on MATLAB GUI. It is hoped that the developed system will have a wide area of applications in industry and will make important contributions for the improvement of manufacturing, assembly, transportation and storage technologies.
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