An approach to autonomous microrobot - micro line trace robot withreflex algorithm

摘要

A micro-line-trace robot is a micro-autonomous mobile robot thatruns along a black line using a pair of photo-sensor. Themicro-line-trace robot consists of a pair of photo-sensors, a pair ofelectromagnetic actuators and a programmable logic device. Thephoto-sensor includes logic circuits and an amplifier, and gives anoutputs of TTL level signals based on the intensity of illumination. Theprogrammable logic device is constructed by AND gates and OR gates, andis able to be programmed by the user. The electromagnetic actuatorconsists of an electric coil, a leg and an inclining cloth that convertsfrom the vibration of the leg into a propelling force. Themicro-line-trace robot made with these functions can autonomously tracethe black free-hand drawn line