Title: Development of homogeneous mobile robots for box-pushing problem

Authors: C. Paramasivam, T. Sornakumar

Addresses: Department of Mechanical Engineering, Thiagarajar College of Engineering, Madurai – 625 015, India. ' Department of Mechanical Engineering, Thiagarajar College of Engineering, Madurai – 625 015, India

Abstract: This paper describes the development of a pair of homogeneous mobile robot using AT89C51 microcontroller with two 6V DC motors to address the box-pushing problem. In this work, two homogeneous mobile robots have been fully developed exclusively to address the box-pushing application that is described as ||Pushing a box-like solid item to reach the goal position already defined by more than one mobile robot through the cooperation among them||. Teaching the mobile robots using reinforcement learning is easier, because of specifying a reward function for every task completed by them.

Keywords: homogeneous mobile robots; cooperativeness; box pushing; reinforcement learning; reward function; robot cooperation; cooperating robots.

DOI: 10.1504/IJMMS.2009.026050

International Journal of Mechatronics and Manufacturing Systems, 2009 Vol.2 No.3, pp.348 - 357

Available online: 26 May 2009 *

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