Rotary encoder

Abstract— Swarm robotics is an advanced robotics field which involves co-operative behaviour implemented on robots. Swarm robots find its applications in a large number of fields like process automation, defence, surgery, surveillance etc.In the centralised swarm robotic approach, we have a master robot and one or more slave robots. For a known environment this approach has a very less response time. The master robot is basically in charge of the slaves and controls their actions through sending…

Abstract : This paper presents a practical implementation for simulating the pitching and yawing motions of an autonomous underwater vehicle (AUV) and its consequent control using an ARM based SBC Friendly ARM mini2440. A rotary encoder and adxl303 triple axis accelerometer has been used to measure the position and acceleration respectively. The emphasis of this paper is given on the interfacing of the sensors with Friendly ARM mini2440 and the resultant control algorithm implemented on the…