PSO based localization of multiple mobile robots emplying LEGO EV3

Abstract

The problem of robotic path planning is one of the most noteworthy task in mobile robots. Control the path of robot to reach at the exact target without effecting by environmental conditions is the most difficult task to obtain. Multi-Robotic path planning is a challenging computational problem seduce in robotics because of its complexity and high cost by the number of robots. Path planning of multi robots using particle swarm optimization algorithm somehow reduces complexity. This work introduces a new algorithm of path planning using PSO techniques and displays a model of path planning of robots in a square and obstacle free environment. These robots are assemble with two LEGO MINDSTORMS EV3 kits and are customized with its own software. The Bluetooth protocol is used to establish communication between two robots. Each robot is equipped with a GYRO and ULTRASONIC sensors for moving and detecting each other. This research also shows its successfully achieved hardware results using LEGO Mindstorms EV3 kits.