In this paper, we describe cooperative driving by small mobile robots with ZigBee communication developed as a short-range wireless standard. We designed a small two-wheeled compact robot equipped with inertial sensor and wireless module, enabling real-time measurement of heading orientation and quick movement according to coordinator’s instruction commands via ZigBee network. The sensor used for orientation control of each mobile robot is 9-axis inertial measurement unit. The robot uses yaw angle for its heading orientation. In addition, the wireless module, XBee3, is available for broadcast communication. We propose an optimal algorithm for cooperative running by multiple mobile robots on the basis of IMU sensors and wireless communication. Finally, we conduct two experiments relative to cooperative running such as straight reciprocating motion and circular track motion. Through these experiments, we verify the robustness of the proposed algorithm and reveal the availability of ZigBee wireless communication for swarm robotics.
Yanase et al. (Wed,) studied this question.
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