tra
smittera
dreceiverarelocatedi
fixedpositio
sAsca
besee
i
Figure2bo
epairislocatedi
higherpositio
todisti
guisharobotfromtheballItca
detecto
lytheballTheotherthreepairsarelocatedi
thelowerpositio
Theyca
detecttheballa
drobotsSoaCPUca
recog
izetheobstacledetectedbyitsow
se
sorsaballa
darobotSi
cese
sorboardisi
fro
tofarobotitca
performlocalsearchi
gi
fro
tofarobot氽黉饨荠
龈话骛。
416
fFigure3Theshapeofdigitallycodeddata
Figure4Theco
stitutio
ofcommu
icatio
sig
al3Commu
icatio
Wechooseu
idirectio
alcommu
icatio
fromasupervisortorobotsGe
erallytosharemorei
formatio
bidirectio
alcommu
icatio
isbetterButit
eedsmorespacea
di
creasesthecomplexityoftaskswhichrobotsa
dasupervisorcarryoutI
oursystemweusevisio
systemasaglobalmo
itorSoitis
ot
ecessaryforarobottotra
smititsdatatoasupervisorThereforeweadoptu
idirectio
alcommu
icatio
峄簖疖泶蛴镧。Therearetwoprevale
tcommu
icatio
methodsIRa
dRFIRcommu
icatio
hasaproblemsuchthatitisaffectedbylightSoi
realcompetitio
itmaymalfu
ctio
ThereforewemodifythecommercialRFcommu
icatio
modulea
di
troduceadigitalmethodforhighprecisio
a
dgoodreliabilityofi
formatio
tra
sferWesetthecarrierfreque
cyas4kHzTwosectio
smakeo
edigitaldataIfthereisastatecha
gebetwee
twosectio
si
thedigitaldatathisdigitaldatamea
s