Ad-hoc swarm robotics optimization in grid based navigation

摘要

A technology to identify a correct remote object and to carry it back to a base camp has become an important utility form, in the military for identifying improvised explosive devices (IEDs) and for space scientists to collect samples from mars. Multi-robot systems can accomplish tasks that would be impossible for a single robot to achieve. Developing multi-agent systems with self interested agents with a large behavioural repertoire is a great challenge. In this paper, we combine collaborative agent behaviour to deal with these vital issues. An ad-hoc design approach for swarm robotics optimization in grid based navigation is presented. Implementation of low power CC2500 wireless communication chip is done to accomplish multi-robot communication. Primitive behaviors called real-time grid search, move-to-goal, avoid-static-obstacle, avoid-robot behaviors are introduced for the path planning of multi-robot. The system is based on Real-time Grid Searching and Collision free Path Tracing & Retracing algorithm. A randomly placed remote object in the grid is identified and is carried to the base station with the effective coordination of the multi-robot system.