Symbiotic approach technique on a modular mobile robot

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ID: 286906
2023
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Abstract
Robots are designed to carry out discrete and define tasks and have fixed configuration. Modular and reconfigurable robot shows the promise of great versatility, robustness, flexibility, and affordability. The domain of modular robotic system, self-configuration, self-diagnose, and self-repair are known to be a challenging task. In the field in of mobile robotics there is a demand for a fault detection and diagnose of sensor, actuator, and system component to assure system reliability and safety. In a collective robotic system , the probability rises exponentially with increasing system scale and suffer from unanticipated faults. The mechanism and processing of a modular robot is simple and limited which is challenging. Modular reconfigurable robots (MRR) are composed of modules that can arrange themselves to different configuration to perform various task. Modular self-reconfigurable system, size, robustness, and performance have been continuously improving however there are challenges for these systems to realize their promise such as hardware design, software control, adaptability, robustness, and cost. This study present the application of a symbiotic approach in a modular mobile robot. This characteristic behavior might help address the challenges in modular reconfigurable robot operation. The general model symbiosis algorithm will help decide if the modular part is harmful or beneficial to the performance or task of the robotic system thru carrying capacity. The symbiotic behavior is implemented and analyzed thru MATLAB Simulink simulation via model-based design using a 6 wheeled mobile robot with 3 modular body to identify the carrying capacity of the system. Actual experimental was also tested and compared with the simulation results. Carrying capacity is translated and used as the distance travelled, velocity and pushing capacity of the design model robotic system. Carrying capacity is greatly influence by the number species or in our case modules. It was shown that carrying capacity are not fixed in quantities but should be consider as functions of the population sizes and total carrying capacity. The mathematical formulation of the idea is to investigate its consequence. Aside from the population size role or interaction.
Reference Key
persistent_1760660014_68f18a2e68f1b Use this key to autocite in the manuscript while using SciMatic Manuscript Manager or Thesis Manager
Authors Fernando, Arvin Hidalgo
Journal Malay Journal
Year 2023
DOI
DOI not found
URL
https://animorepository.dlsu.edu.ph/etdd_mecheng/4
Keywords Keywords not found

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