SMARBot: a modular miniature mobile robot platform

Yan Meng; Kerry Johnson; Brian Simms; Matthew Conforth

doi:10.1117/12.782516

14 April 2008 SMARBot: a modular miniature mobile robot platform

Yan Meng, Kerry Johnson, Brian Simms, Matthew Conforth

Proceedings Volume 6943, Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VII; 694306 (2008) https://doi.org/10.1117/12.782516
Event: SPIE Defense and Security Symposium, 2008, Orlando, Florida, United States

Abstract

Miniature robots have many advantages over their larger counterparts, such as low cost, low power, and easy to build a large scale team for complex tasks. Heterogeneous multi miniature robots could provide powerful situation awareness capability due to different locomotion capabilities and sensor information. However, it would be expensive and time consuming to develop specific embedded system for different type of robots. In this paper, we propose a generic modular embedded system architecture called SMARbot (Stevens Modular Autonomous Robot), which consists of a set of hardware and software modules that can be configured to construct various types of robot systems. These modules include a high performance microprocessor, a reconfigurable hardware component, wireless communication, and diverse sensor and actuator interfaces. The design of all the modules in electrical subsystem, the selection criteria for module components, and the real-time operating system are described. Some proofs of concept experimental results are also presented.

Citation Download Citation

Yan Meng, Kerry Johnson, Brian Simms, and Matthew Conforth "SMARBot: a modular miniature mobile robot platform", Proc. SPIE 6943, Sensors, and Command, Control, Communications, and Intelligence (C3I) Technologies for Homeland Security and Homeland Defense VII, 694306 (14 April 2008); https://doi.org/10.1117/12.782516

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