Directed power-variable infrared communication for the mini robot Khepera

摘要: Communication facilities are important in Robotics if several robots have to work together. In this paper, we describe problems and solutions encountered while de- signing an infrared-based communication device for the mini robot Khepera. contrast traditional omnidirectional systems, it features directed, power-variable transmission eight directions at 23.4 kbps up a range of 1m . It can differentiate incoming data sig- nals from interference adjacent sectors estimate their direction-of-arrival. We model over infrared channel show how influences reception signals. also methods reduce these effects. tested performance resulted signal processing worst case scenario by simulations experiments with prototype implementation. The module is especially suited experimental evaluation ad hoc network protocols position estimation.