Design and implementation of a bristle bot swarm system

dc.contributor.advisorBecker, Felixes_ES
dc.contributor.authorPozo Fortunić, Juan Edmundoes_ES
dc.date.accessioned2017-02-06T23:47:44Zes_ES
dc.date.available2017-02-06T23:47:44Zes_ES
dc.date.created2016es_ES
dc.date.issued2017-02-06es_ES
dc.description.abstractSwarm robotics focuses on the study and development of robot systems containing a large number of agents that interact with each other in a collective behaviour in order to achieve tasks or overcome obstacles. Bristlebots are vibration-driven mobile robots. They are characterized by small size, high speed, simple design and low costs for production and application – qualities which are advantageous for agents of swarm robotic systems. However, most studies have been developed over systems with no control or systems with two or more actuators. The aim of this master thesis is the development of a bristle based robot agent for a swarm robotics microsystem with units for locomotion, sensing, data processing, control, communication and energy storage. New approaches in modelling and development of swarm agents are given, and a robot prototype is presented. The robot is driven by a single DC motor and uses a bristle system to create locomotion. It should be noted, that within the system design, considerations for the size, weight and minimalist architecture are taken. Experiments are presented and the system’s capabilities for displacement, velocity and trajectory generation are analysed. While the parallel velocity maintains a positive magnitude in both motor rotation directions, the rotation speed and transversal velocity of the robot have opposite directions, creating curved trajectories with opposite orientations. In Frequencies up to 210 Hz, the rotation direction of the robot is maintained while the magnitude slightly varies. However, for higher frequencies, the rotation direction of the robot is reversed, maintaining a similar magnitude. The transversal speeds at this frequency range, maintain their direction but are clearly reduced compared to lower frequencies.es_ES
dc.description.uriTesises_ES
dc.identifier.urihttp://hdl.handle.net/20.500.12404/7686
dc.language.isoenges_ES
dc.publisherPontificia Universidad Católica del Perúes_ES
dc.publisher.countryPEes_ES
dc.rightsinfo:eu-repo/semantics/openAccesses_ES
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/2.5/pe/*
dc.subjectRobots móvileses_ES
dc.subjectInteligencia de enjambrees_ES
dc.subjectRobóticaes_ES
dc.subject.ocdehttps://purl.org/pe-repo/ocde/ford#2.00.00es_ES
dc.titleDesign and implementation of a bristle bot swarm systemes_ES
dc.typeinfo:eu-repo/semantics/masterThesises_ES
renati.discipline713167es_ES
renati.levelhttps://purl.org/pe-repo/renati/level#maestroes_ES
renati.typehttp://purl.org/pe-repo/renati/type#tesises_ES
thesis.degree.disciplineIngeniería Mecatrónicaes_ES
thesis.degree.grantorPontificia Universidad Católica del Perú. Escuela de Posgradoes_ES
thesis.degree.levelMaestríaes_ES
thesis.degree.nameMaestro en Ingeniería Mecatrónicaes_ES

Files

Original bundle

Now showing 1 - 1 of 1
Thumbnail Image
Name:
POZO_JUAN_BRISTLE_BOT_SWARM_SYSTEM.pdf
Size:
9.74 MB
Format:
Adobe Portable Document Format
Description:
Texto completo

License bundle

Now showing 1 - 1 of 1
No Thumbnail Available
Name:
license.txt
Size:
1.33 KB
Format:
Item-specific license agreed upon to submission
Description: