Platoon system implementation using the Robotis Bioloid platform

Abstract

The study was conducted as a precursor and a proof of concept for the implementation of robot networks, given the rising potential applications and significance of such systems. The robot network itself was built using four robot modules from the flexible and adaptable Robotis Bioloid platform. Interconnections were provided wirelessly through the infrared modules of the Bioloid platform, and through the 802.11b standard of the Lantronix WiPort wireless module platform. Feedback and central automated control were integrated in the system using image processing and vector-based algorithms inside the open-source programming environment called Processing. The main focus of the implementation was the modeling of a “platoon” system with two basic formations using four robots connected wirelessly: a train-like behavior and a horizontal or side-by-side assembly. Initial results provided an overview on the expected capabilities and limitations of such system: the apparent lack of response speed and precision compared to full-blown custom robot networks built from the ground up, but having the advantage of manipulating individual robot structure to fit specific purposes due to the flexible (construction and design-wise) nature of the Bioloid platform. Further results suggest that distance between the robots, battery level condition and light ambiance are important factors that may affect the system.