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Volume 12
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Article

A Powered Floor System with Integrated Robot Localization

by
Stefano Seriani
,
Sergio Carrato
*,
Eric Medvet
,
Andrea Cernigoi
,
Adriano Zibai
and
Paolo Gallina
Department of Engineering and Architecture, University of Trieste, 34127 Trieste, Italy
*
Author to whom correspondence should be addressed.
Electronics 2023, 12(1), 234; https://doi.org/10.3390/electronics12010234
Submission received: 22 November 2022 / Revised: 23 December 2022 / Accepted: 26 December 2022 / Published: 3 January 2023
(This article belongs to the Special Issue Intelligent Control and Application for Robotics)
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Abstract

One of the most pressing issues in the field of mobile robotics is power delivery. In the past, we have proposed a powered floor based solution. In this article, we propose a system which combines a powered floor with a robot pose estimation system. The floor on which the mobile robots stand is composed of an array of interdigitated conductors that provide DC power supply; the stripes of conductors are interwoven similarly to what happens in a carpet, thus creating a sort of checkerboard of positive and negative pads. The robots are powered through sliding contacts. The power supply voltage is modulated with a binary encoding that uniquely identifies each conductor stripe power line; in this way, each robot is able to self-localize, by exploiting the information coming from the contacting pins. We describe the theoretical framework that allows concurrent power delivery and localization (with error boundaries). Then, we present the experimental evaluation that we performed using a prototype realization of the proposed powered floor system.
Keywords: robotics; powered floor; power delivery; localization; position determination; electrical contacts robotics; powered floor; power delivery; localization; position determination; electrical contacts

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MDPI and ACS Style

Seriani, S.; Carrato, S.; Medvet, E.; Cernigoi, A.; Zibai, A.; Gallina, P. A Powered Floor System with Integrated Robot Localization. Electronics 2023, 12, 234. https://doi.org/10.3390/electronics12010234

AMA Style

Seriani S, Carrato S, Medvet E, Cernigoi A, Zibai A, Gallina P. A Powered Floor System with Integrated Robot Localization. Electronics. 2023; 12(1):234. https://doi.org/10.3390/electronics12010234

Chicago/Turabian Style

Seriani, Stefano, Sergio Carrato, Eric Medvet, Andrea Cernigoi, Adriano Zibai, and Paolo Gallina. 2023. "A Powered Floor System with Integrated Robot Localization" Electronics 12, no. 1: 234. https://doi.org/10.3390/electronics12010234

APA Style

Seriani, S., Carrato, S., Medvet, E., Cernigoi, A., Zibai, A., & Gallina, P. (2023). A Powered Floor System with Integrated Robot Localization. Electronics, 12(1), 234. https://doi.org/10.3390/electronics12010234

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