Development of a swarming algorithm for mobile robots

Swarming robots basically consist of a group of several simple robots that interact and collaborate with each other to achieve shared goals. It is inspired by social insects, which can perform tasks that are beyond the capability of an individual. In a navigation task, a single robot system is not...

Full description

Saved in:

Bibliographic Details
Main Author:	Humairah, Mansor
Format:	Thesis
Language:	English
Subjects:	Swarming algorithm Mobile robots Swarming robots Swarm robotics Robotics
Online Access:	http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/42989/1/P.1-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/42989/2/Full%20Text.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-unimap-42989
record_format	uketd_dc
spelling	my-unimap-429892016-09-22T07:38:32Z Development of a swarming algorithm for mobile robots Humairah, Mansor Prof. Dr. Abdul Hamid Adom Swarming robots basically consist of a group of several simple robots that interact and collaborate with each other to achieve shared goals. It is inspired by social insects, which can perform tasks that are beyond the capability of an individual. In a navigation task, a single robot system is not suitable to be used as an agent for the navigation usually covers a wide range of area. Furthermore, a single robot system is more complicated and requires a higher cost to build since the mobile robots need to be more complex in order to enable their abilities. Therefore, a group of simple robots is introduced. A group of robots can perform their tasks together in a more efficient way compared to a single robot, hence develop a more robust system. This thesis presents an approach for swarming algorithm using autonomous mobile robots. This project implements the swarming algorithm by supplementing the ability of mobile robot platforms with autonomy and odour detection. The work focused on the localization of chemical odour source in the testing environment and the leader and follower swarm formation through wireless communication. The project was developed in stages, namely hardware implementation where the mobile robots were given the ability to detect obstacles. A TGS 2600 Figaro sensor was utilized to provide the ability to detect odour. To enable the mobile robots to communicate with each other and able to perform leader and follower designation once the target has been found, the robots were installed with X-Bee module. The robot which found the odour source first will be the leader and the other will automatically become a follower. The Received Signal Strength Indicator (RSSI) of X-Bee is used as the parameter to estimate the distance between the leader and the follower robots. The algorithm was developed using Arduino development environment. By combining these three algorithm stages, a simple swarming system is tested. In this research, the leader-follower designation has been proposed as the method of swarming searching behaviour. The results show that the searching method provides a centralized communication between all the mobile robots. This communication leads to a better wireless data exchange between mobile robots compared to the distributed communication approach which decision making is based on each agent in the testing environment. The RSSI used in this research shows the reliability as an estimation parameter between mobile robots. The use of RSSI is a new method of estimating the distance between two wireless communication nodes despite the widely use of Bluetooth, ultrasonic sensors and Global Positioning System (GPS). Based on the RSSI value, the swarming system experiment is demonstrated. From the results, future work on the stabilization of the RSSI value during the wireless data transmission can be further investigated. Universiti Malaysia Perlis (UniMAP) 2014-07 Thesis en http://dspace.unimap.edu.my:80/xmlui/handle/123456789/42989 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/42989/1/P.1-24.pdf 0946731dd0d4453567da633119235aa6 http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/42989/2/Full%20Text.pdf 1334b7da45d62f174ab11ae9cb58c28c http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/42989/3/license.txt 8a4605be74aa9ea9d79846c1fba20a33 Swarming algorithm Mobile robots Swarming robots Swarm robotics Robotics School of Mechatronic Engineering
institution	Universiti Malaysia Perlis
collection	UniMAP Institutional Repository
language	English
advisor	Prof. Dr. Abdul Hamid Adom
topic	Swarming algorithm Mobile robots Swarming robots Swarm robotics Robotics
spellingShingle	Swarming algorithm Mobile robots Swarming robots Swarm robotics Robotics Humairah, Mansor Development of a swarming algorithm for mobile robots
description	Swarming robots basically consist of a group of several simple robots that interact and collaborate with each other to achieve shared goals. It is inspired by social insects, which can perform tasks that are beyond the capability of an individual. In a navigation task, a single robot system is not suitable to be used as an agent for the navigation usually covers a wide range of area. Furthermore, a single robot system is more complicated and requires a higher cost to build since the mobile robots need to be more complex in order to enable their abilities. Therefore, a group of simple robots is introduced. A group of robots can perform their tasks together in a more efficient way compared to a single robot, hence develop a more robust system. This thesis presents an approach for swarming algorithm using autonomous mobile robots. This project implements the swarming algorithm by supplementing the ability of mobile robot platforms with autonomy and odour detection. The work focused on the localization of chemical odour source in the testing environment and the leader and follower swarm formation through wireless communication. The project was developed in stages, namely hardware implementation where the mobile robots were given the ability to detect obstacles. A TGS 2600 Figaro sensor was utilized to provide the ability to detect odour. To enable the mobile robots to communicate with each other and able to perform leader and follower designation once the target has been found, the robots were installed with X-Bee module. The robot which found the odour source first will be the leader and the other will automatically become a follower. The Received Signal Strength Indicator (RSSI) of X-Bee is used as the parameter to estimate the distance between the leader and the follower robots. The algorithm was developed using Arduino development environment. By combining these three algorithm stages, a simple swarming system is tested. In this research, the leader-follower designation has been proposed as the method of swarming searching behaviour. The results show that the searching method provides a centralized communication between all the mobile robots. This communication leads to a better wireless data exchange between mobile robots compared to the distributed communication approach which decision making is based on each agent in the testing environment. The RSSI used in this research shows the reliability as an estimation parameter between mobile robots. The use of RSSI is a new method of estimating the distance between two wireless communication nodes despite the widely use of Bluetooth, ultrasonic sensors and Global Positioning System (GPS). Based on the RSSI value, the swarming system experiment is demonstrated. From the results, future work on the stabilization of the RSSI value during the wireless data transmission can be further investigated.
format	Thesis
author	Humairah, Mansor
author_facet	Humairah, Mansor
author_sort	Humairah, Mansor
title	Development of a swarming algorithm for mobile robots
title_short	Development of a swarming algorithm for mobile robots
title_full	Development of a swarming algorithm for mobile robots
title_fullStr	Development of a swarming algorithm for mobile robots
title_full_unstemmed	Development of a swarming algorithm for mobile robots
title_sort	development of a swarming algorithm for mobile robots
granting_institution	Universiti Malaysia Perlis (UniMAP)
granting_department	School of Mechatronic Engineering
url	http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/42989/1/P.1-24.pdf http://dspace.unimap.edu.my:80/xmlui/bitstream/123456789/42989/2/Full%20Text.pdf
_version_	1747836819997720576

Development of a swarming algorithm for mobile robots

Similar Items