A modularized infrared (IR) communication system for high-speed inter-robot communication and better management of Khepera experiments.
The infrared communication is used for two purposes:
  • To communicate between host computer and multiple Kheperas for management of the experiment
  • To exchange signals and messages between multiple Kheperas for inter-robot communication
IR Communication Turret

Features

  • Inter-robot and robot-host communication by IR
  • Can be used to file results from experiments using Khepera on host computer for later processing and analyses
  • Can download programs to Khepera
  • Khep-BIO functions and existing communication port on Khepera used to run the turret

Specifications

  • A standard Khepera add-on turret
  • Variable communication message size
  • Communication speed: 38.4KBPS maximum, half duplex
  • Size: diameter 55 mm, height 10 mm
  • Maximum inter-robot communication range by the turret is 100 cm with about 30 degrees visual field
  • Expandability: able to add other options on top of this turret

IR Communication Base

Features

  • Used in both types of communication: between Khepera robots, and between a host (PC or SUN) computer and a Khepera (uplink/downlink)
  • Host downloads the program or sends instructions to Khepera (downlink) and receives a report on the internal state of each Khepera (uplink)

Specifications

  • Consists of communication hardware and software
  • Needs IR Communication Turret on eaach Khepera in experiment
  • Uses serial port of a host to communicate with Kheperas
  • Serial cable connects the host computer to the communication module
  • Communication module equipped with a set of miniature IR transceivers for host-Khepera communication
  • The number of IR transceivers in the system can be adjusted for coverage according to the shape and size of the maze (up to eight)
*Please note that "Khepera" is used here to refer to either Khepera or Khepera II.

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