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Proceedings Paper

Hardware platform for multiple mobile robots
Author(s): Otto Parzhuber; D. Dolinsky
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Paper Abstract

This work is concerned with software and communications architectures that might facilitate the operation of several mobile robots. The vehicles should be remotely piloted or tele-operated via a wireless link between the operator and the vehicles. The wireless link will carry control commands from the operator to the vehicle, telemetry data from the vehicle back to the operator and frequently also a real-time video stream from an on board camera. For autonomous driving the link will carry commands and data between the vehicles. For this purpose we have developed a hardware platform which consists of a powerful microprocessor, different sensors, stereo- camera and Wireless Local Area Network (WLAN) for communication. The adoption of IEEE802.11 standard for the physical and access layer protocols allow a straightforward integration with the internet protocols TCP/IP. For the inspection of the environment the robots are equipped with a wide variety of sensors like ultrasonic, infrared proximity sensors and a small inertial measurement unit. Stereo cameras give the feasibility of the detection of obstacles, measurement of distance and creation of a map of the room.

Paper Details

Date Published: 29 December 2004
PDF: 8 pages
Proc. SPIE 5609, Mobile Robots XVII, (29 December 2004); doi: 10.1117/12.567056
Show Author Affiliations
Otto Parzhuber, Munich Univ. of Applied Sciences (Germany)
D. Dolinsky, Munich Univ. of Applied Sciences (Germany)


Published in SPIE Proceedings Vol. 5609:
Mobile Robots XVII
Douglas W. Gage, Editor(s)

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