Abstract
A series of micro-robots (MERLIN) has been designed and implemented for a broad spectrum of indoor and outdoor tasks on basis of standardised functional modules at the Fachhochschule Ravensburg-Weingarten. In particular a flexible modular vehicle control system based on a CAN-bus has been developed. It supports easy changes of sensors (e.g. range sensors on basis of infrared or ultrasonic, gyroscope, cameras, odometry, inclinometer, GPS) and motion control (tracked and wheeled locomotion) system. Power can be provided via tether or via primary batteries. Another interchangeable subsystem concerns telecommunications. Here solutions ranging from tether to analogue/serial radio data transmission are available. Because of the modular structure these different vehicles are ideal test platforms for use in education and training in the area of robotics and telematics, addressing also tele-operations via INTERNETThe special emphasis of this paper is to describe and demonstrate by experiments the MERLIN's capabilities for outdoor navigation based on a sensor system with Differential GPS and gyros, a distributed on board control and a radio link for remote control and monitoring of sensor data
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