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- Type of Document: M.Sc. Thesis
- Language: Farsi
- Document No: 41924 (08)
- University: Sharif University of Technology
- Department: Mechanical Engineering
- Advisor(s): Meghdari, Ali
- Abstract:
- Swarm robotics is a new approach to the coordination of large numbers of relatively simple robots. The approach takes its inspiration from the system level functioning of social insects which demonstrate three desired characteristics for multi-robot systems: robustness, flexibility and scalability. This research describes development of an autonomous miniature mobile robot for swarm robotics research and education. Several common platforms were studied and this prototype was designed. Wireless communication was selected to transmit robot’s messages. The design of this testbed aims for enhancing the sensing capability of the robotic agents, overcoming the constraints led by lack of communications among robots and accustoming itself to various formation control simulations. The proposed design schema utilizes an overhead camera to localize the agents. We used a semi-concentrated algorithm based on artificial potential functions to control robots. This method tries to minimize the communications between robots and increase system flexibility and robustness against environmental disturbances. We used VFH algorithm to avoid obstacles in unknown environments. The experimental results demonstrate the feasibility of using this system to implement swarm robotic applications
- Keywords:
- Image Processing ; Robotic Swarm ; Mobile Robot ; Obstacle Avoidance ; Artifical Potential Functions
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