SICE Annual Conference 2011

September 13-18, 2011, Waseda University, Tokyo, Japan

Wireless Group Manipulation of Autonomously Guided Mobile Robots for Smart Living
Space Applications
M.-H. Chen, D. Gu, Y.-D. Fu, C.-H. Pi, K.-S. Ou, and K.-S. Chen
Department of Mechanical Engineering, National Cheng-Kung University, Tainan, Taiwan
(Tel: +886-6-2757575 ext.62192; E-mail: kschen@mail.ncku.edu.tw )
Abstract: In this work, by integrating omni-wheel mobile robots with X-Bee communication protocol, Arduino control,
IR range finders, and CMOS camera, as well as wiimote multi-zone localization, tasks such as obstacle and collision
avoidances, following, autonomously movement, and indoor localization of group robots are implemented as the first
step toward an autonomously control of group robots for smart living space applications. In conjunction with hardware
design, novel algorithms are developed for successfully realizing and demonstrating these tasks. With these key issues
being solved, more realistic scenario can be designed for achieving the real group robot applications for indoor service
in the future.
Keywords: Autonomously Guided Motion Control, Mobile Robots, Arduino, X-Bee, Group Manipulation

1. INTRODUCTION

technology; it might require coordination and group

To understand and utilize the advantage of group

manipulation of multiple mobile robots. This work is

movement and cooperation of biological system are long

inspired by the behavior of natural biological animal

term pursuit by researchers in different aspects. For

groups, in which the individual member could either have

robotics and artificial intelligence fields, by coordinating

their own intelligent and information to perform motion

and cooperating of large individual robots, complicate

and decision making based on their own information or to

tasks can be fulfilled. In addition, through proper

exchange information and perform group motion for

networking and communication, these robots can

finishing a cooperative task. The bio-mimic approach

exchange their information and learned from peers and

could potentially leads to a large scale integration of

the environment for tackling more complicated tasks,

robotic members to form a massive group for performing

which cannot be done by single or ungrouped robots.

complicated tasks.

Consequently, it is possible to gain particular advantages

In order to pursue the goal mentioned above, several

by applying the bio-inspired nature into the field. As a

important fundamental tasks must be established and

result, several research laboratories have been deeply

realized. These fundamental issues including: collision

engaged into the study for autonomously manipulation of

avoidance, global localization, obstacles avoidance, and

robot groups for specific applications by investigating in

group manipulations. For obstacle avoidance, most

virtually all aspects of mobile robots including remote

widely used technique is to utilize the information

motion control, navigation, and speech recognition.

observed

Previously, Rooker and Birk [1] utilized wireless

subsequent trajectory planning [2,3] or by sensor

communications

establish

mounted on robots themselves [4]. Both approaches have

environmental map for robot manipulations. The ability

their own advantages and disadvantages. For example, the

to manipulate a robot group enables new applications for

former approach can obtain the global status of the robot

automatic indoor landscape arrangement and human

group but it cannot mimic the autonomous behavior of

machine interactions, or for the smart architectural

individual elements. On the other hand, the latter one can

between

two

robots

to

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by

external-mounted

CCD

cameras

for

PR0001/11/0000-2143 400 2011 SICE

provide information of individual robot for decision but

established for performing subsequent tasks.

the lack of global coordination makes it difficult to

(a)

(b)

(c)

(d)

perform tasks related to global positioning efficiently.

As a result, in this work, we combine both approaches by
utilizing multi-zone wiimote localization technique
developed by us [5] for global information assessments
and by IR range finders and CMOS cameras for recognize
the nearby objects. Based on the hardware and the
subsequent software implementation, it is possible to
achieve basic ability such as recognition, following [6],
obstacle avoidance, and global positioning. With these
basic abilities, it is possible to demonstrate more

Fig. 1 The omniwheel mobile robots (a) key units, (b) the

dedicated group autonomous manipulations similar to the

fleet, (c) schematic plot to show key parameters, and (d)

previous work in robotic fish [7] in smart live

IR range finder and CMOS camera assembly

applications.

In addition, a mesh topology between the host and

2. SYSTEM SETUP
Four omni-wheel type mobile robots designed and
built by us are shown in Figure 1. These omni-wheels are
driven by three S03T_STD servo motors

(powered by a

battery set) with an(UNO MEGA2560) Ardunio control

card with a clock 16 MHz and a (XBee ZNet2.5) X-Bee
communication protocol (based on IEEE 802.15.4 with
maximum data rate 250kpbs) for the basic motion and
communication ability. The Arduino card sends PWM
signal between 0 and 255 to control the wheel rotating
speed (i.e., and the global translating (

x , y ) and

self-rotating velocities (  ) of those robots can be

obtained by the following kinematics equation:

these robots is established by utilizing the X-Bee protocol.

The host sends sets of string signals in broadcasting
manner, which are received and decoded by each robot to
recognize the specific parts for their own. The mesh
topology enables us to overcome the possible signal
attenuation and delay due to the presence of obstacles.
Next, based on different task planning, each robot
equips three sets (one main and two auxiliary sets) of
(Sharp GP2Y0A21) IR range finder shown in Figure 1d
for detecting nearby objects for obstacle avoidance. The
effective ranges for the main and these two auxiliary IR
range finders are 0.15-5m (for a scanning angle 170) and
10 80cm (for a scanning range 240), for coarse and
fine range determination, respectively. These range

finders are scanning back and forth for detecting possible

obstacles in a wide range. A novel algorithm is also

where R and L are the radii of the wheels and the robot,
respectively. 1 is the motion direction, 2 is 1 to indicate
forward or revise rotations. g1 and g2 are velocity gains.
Furthermore, depends on the application, associated
control laws to govern the relationship between the
feedback information and the controlled are also

developed to coordinate the information from IR range

finders and the scanning angles for determining optimal
trajectory for obstacle avoidance.
Furthermore, each mobile robot also equips different
design of IR LED patterns and a CMOS IR camera
detached from Nintendo wiimotes for sensing the distance
and orientation between omni-wheels and for the purpose

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their

divided into four zones and the coordinates of the

corresponding IR LEDS are also installed on the ceiling

possible obstacles are (di, i) (i=1~4). If there are any di

and the robots for globally monitoring the absolutely

less than its pre-defined threshold value dti, the obstacle

location of these robots.

In together with the multi-zone

avoidance mode is then activated. A weighting index pi

localization technique developed by us [5], this provides

(i=1~4) is then assigned based on di and it reflects the

the global position information for external supervisor on

obstacle presence distributions. Based on pi and i, the

future task planning and control. Finally, the interaction

algorithm determines the velocity gains g1and g2 and the

between the robot group and the external human

possible orientation modification for the next step. By

supervisor is established between the host computer and

such a dynamic scanning manner, the trajectory of the

either the master robot (group mode) or all robots

robots will be evaluated and updated after each motion

(individual mode) by using a graphic user interface

step. Previous work[4] used ultrasonic sensor for obstacle

written under a LabVIEW environment. The entire

detection but it cannot precisely determine the obstacle

functional block diagram is shown in Figure 2.

location and the robots would be difficult for making

of

object

recognition.

Next,

wiimotes

and

following up decisions. On the other hand, this approach

can precisely determine the obstacle location and
promptly response it during the next step.

Fig. 3 Brief flowchart of the obstacle avoidance

Fig. 2 The functional block diagram of the entire work.

algorithm.

3. EXPERIMENTALSETUPAND

Following:

ALGORITHMS DEVELOPMENT
Various fundamental benchmark problems have been
experimentally demonstrated to allow us to evaluate the
overall performance and to examine the possible faults in
recognition and communications between objects, as well
as to refine the manipulation schemes. By such efforts,
the above mentioned tasks are successfully demonstrated.
The performance measured and lesson learned could be
very valuable for future large scale integration.

As mentioned earlier, each robot equips with a set of

IR LEDs and a CMOS IR camera with a resolution of
1024768 for detecting the presence of nearby robots. By
recognizing the image pattern of IR LEDs, each robot can
distinguish its neighborhood. Also, by evaluating the
coordinates of these LEDs, it is possible to calculate the
relative distance and orientation between two robots and
performing following motions. A following algorithm is
developed and briefly illustrated in Figure 4. The first

Obstacle avoidance:
As mentioned earlier, an algorithm is proposed to
perform the obstacle avoidance. The algorithm is briefly
illustrated in Figure 3, the mobile robot is initially motion
in a straight manner and the IR range finders scan with a
rotating speed approximately 33.33 rpm to continuously
search for possible obstacles. The scanned area was

phase is to search the master robot. We divide the visible

area of the CMOS camera to five zones, denoted as qi,
i=1~5. Meanwhile, the motor scanning angles are also
partitioned into three different sets j, j=1~3. Hence the
total visible area is organized as 15 zones and a weighting
index Cij is assigned for each zone. Once an object is

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detected in a zone, the corresponding index is switched

autonomously guided robot group motion can be realized.

from 0 to 1. Depends on the distribution of Cij, three

Wiimote indoor localization:

possible motions can be performed, i.e., straight motion,

In order to monitor the location of each mobile robot in

locally self-rotation, and curvilinear rotation. Robots are

real time for evaluating the effectiveness of our

therefore able to find their master and to adjust their

algorithms, the multi-zone wiimote localization scheme

speed and orientation for following. Once the master has

previously developed by us [5] is adapted here. As shown

been identified, the system automatically changes to the

in Figure 5, two wiimotes are mounted on the ceiling (2.3

following mode by reducing the scanning range for

m above) to cover an effective area of 1.82.7 m2 with a

tracking the master and for increasing the system

spatial resolution of 1.75mm for monitoring the motion.

bandwidth.

In addition to this original purpose, it is immediately

realized that by properly utilizing the obtained global
position information, it is possible to perform more
sophisticated applications such as precision positioning of
an entire robot group and interactions between two
independent groups of autonomously robot in the future.

Fig. 4 Brief flowchart of the following algorithm.

External control and group autonomous movement:
A well-established communication network is the key
for successful manipulation of robot groups. This can be

Fig. 5 The setup of the wiimote localization system

further divided into two categories. The first category

4. EXPERIMENTAL RESULTS

concerns the interaction between the host and individual

robots and the established X-Bee protocol allows the host

Obstacle avoidance:

computer send signal in a broadcasting manner to all

As shown in Figure 6a, a maze-like passage is

robots. These robots then decode the data to extract the

designed to test the performance of the obstacle

motion commands for their own and subsequently to

avoidance. A robot is commanded to walk through the

drive the servomotors to achieve the goal. By this

passage within 10 seconds without collisions with the

approach and careful motion planning, an external hosted

walls. On the other hand, a path with a dead end is also

group motion can be achieved. On the other hand, by

used and the results shown in Figure 6b indicate that the

mimicking the animal group motion behavior, the second

robot can successfully walk out from it without the

category deals with group autonomously movement. In

concern of trapping inside. These features are important

this task, one robot is assigned as the master and the rest

for indoor service robot since passages could be

are slaves. The master received the command from the

complicated and with many dead ends exist inside a

host computer or by its own decision to plan the motion

typical living space. Robots without the above mentioned

based on sensed information.

abilities would be impractical for indoor service

On the other hand, those

slave robots then move with the master robot to form

specific

motion

patterns.

By

this

approach,

applications.

an

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(a)

(b)

(b)

Fig. 7 Interactions between two robots (a) collision

avoidance and (b) following motion
External group control:
In this experiment, the host broadcasts a massage to all
three mobile robots and asks them moves toward their
corresponding destinations. The results are successfully

Fig. 6 Obstacle avoidance demonstrations

shown in Figure 8 and the result indicates that it is

possible to simultaneously control a large number of

Collision avoidance between two robots:

In a multi-robot workspace, collisions between two or

robots for real applications (such as smart building

more robots must be prohibited and this issue is

elements) by just sending an information package while

investigated here. This can be treated as a dynamic

the bandwidth can still be maintained. This would be very

situation of the above obstacle avoidance problem. As

useful for smart building applications where a large

shown in Figure 7a, two mobile robots approach each

number of building element must be moved to specific

other. Once the relative distance is within the threshold,

locations for fulfilling the functional requirements.

both robots will make decisions to avoid collisions based

on the obstacle avoidance algorithm addressed above.
Following:
Following between a group of slave robots and a
master robot is a fundamental technical ability for
subsequent realization in autonomous motion control of
Fig. 8 An external group control demonstration

group robots. Figure 7b demonstrates the results of our

algorithm in robot following. The master robot performs a
general planar motion and followed by a slave robot. As
one can see, the slave robot follows the path of the master
robot very well.
(a)

Autonomously movement:
Finally, autonomously movement experiments are
performed based on the above established technical
capabilities. Four our mobile robots are designed to
perform three tasks. First, we allow these four robots
moves freely with collision free in the workspace as
shown in Figure 9a. Next, as shown in Figure 9b, with
one robot serves as the master, all other slave robots
moves toward the master once they are asked. Finally,
these slave robots follow the master to form a following

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motion without collisions as shown in Figure 9c. The

multi-zone localization, it is expected more sophisticated

successful demonstrations shown allow us to investigate

schemes

more realistic situation for realizing the real group robot

autonomously controlled robot groups can be further

applications for indoor service in the future.

developed in the future for indoor service applications..

(a)

such

as

the

interaction

between

two

ACKNOWLEDGEMENT
This work is supported by National Science Council
under contact numbers: NSC97-2221-E-006-152-MY3
and NSC 99-2221-E-006-173-MY2.

REFERENCES
(b)

[1]

M. N. Rooker and A. Birk, "Multi-robot exploration

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[2]

C. L. Hwang and L. J. Chang, "Trajectory tracking

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(c)

an

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H2/H

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[3]

A. H. Pratomo et al., "Position and Obstacle

Avoidance Algorithm in Robot Soccer," Journal of
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Fig. 9 Autonomously movement demonstration

[4]

5. SUMMARYAND CONCLUSION

Y. S. Chen and J. G. Juang, "Intelligent Obstacle

Avoidance Control Strategy for Wheeled Mobile
Robot,"

Autonomous control of a group of mobile robots has

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Joint

Conference, Fukuoka, Japan, August 18-21, 2009

the fundamental importance in bio-mimic or smart living

space related applications. However, several fundamental

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[5]

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[6]

applications

based

on

Wiimote

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[7]

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