DESIGN AND CONSTRUCTION OF TWO-WHEELED ROBOT PLATFORM WITH FLEXIBLE CONNECTIVITY TO OTHER ROBOTS

Due to the advantages of multi-agent systems, research trend in this area and the use of these systems in the industry are increasingly growing. Applying these robots. various complex tasks can be done faster, safer and with better results. In our country, many different algorithms have been proposed and simulated in this field but, due to the lack of a real environment for implementation, their actual performance has not been assessed. This article aims to introduce a platform for research and development of this field. This goal is achieved by performing the first phase of implementation, namely the design and construction of the robot platform. In the first step, qualitative and quantitative characteristics of the robot platfonn are specified to attain compittibility with several control algorithms, such as the population of the group. Then the conceptual design of various pans of the platfonn is investigated. The design is carried out in three major pans of mechanics, electronics and software. Each major part contains details and subsets beyond it that f urthcr discussed in the article. Mechanism of propulsion, power supply, recharging, actuators, controllers, and sensors are such of these details. Finally, conclusion and how far does the platform work to fit the goals are discussed.

Keywords:

swarm robotics , robot platform , selfassetnbly , multiagent systems