VGU RESEARCH REPOSITORY
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Title: | Swarm robot communication and cooperation | Authors: | Doan Ngoc Khiem | Keywords: | Bluetooth;Position;Actuator | Issue Date: | 2015 | Publisher: | Vietnamese-German University | Abstract: | This report describes my researches about swarm communication - how swarm robot individuals communicate with each other. By imitating swarms in nature, we can develop so maw features for our swarm robot project depending on the working environment, size of the robot, the number of individuals and the budget of the project. I also go deeply into the development of my low budget swam robot project's communication solution - Bluetooth. In addition, I also studied about several basic tasks in swarm robotic; synchronizing information, calculate individuals position in the workspace, path planning and cooperate to solve more complex tasks. To demonstrate swarm robot's main tasks, I decided to use a group of two RP6 robots. Although they are completed built robot and cannot be minimized the size or simplified the structure, they still have various of ports and connections so that I can at extensions or sensors to solve sonic basic swarm robotics problems. After my research on communication solutions and swarm robot behaviors, I chose Bluetooth HM-1.0 Module as my robot's communication solution. In my project range, this module is the best subtable choice thanks to its complete build, ease of use range of connection and low cost. However, this is just for the prototype because this solution provides only one active connection at the moment, that means I can connect robots only in pairs. For real swami robot, I need to find another solution for communication. Path planning is another important part that must be paid attention on in swarm robot. I did study about RP6 robot's kinematic model and constrains, which help me in robot position monitoring and path planning programming. Obstacle detecting algorithm bins is also researched and I chose Bug algorithms for my robot's obstacle avoiding algorithm. Finally, a robot arm is attached and programmed on my robot so that it Mil perform basic tasks. As we have known, arms is a necessary path for the most number of robots. In my point of view, swarm robots will play an important part in robots world in the near future since their potential of applications is indeed huge. Some of their applications can be microsized robots which are used in medical, mining task or disaster rescue mission, in which swarms of robots will detect the presence of life from refugees via infra-red sensors... |
URI(1): | http://epub.vgu.edu.vn/handle/dlibvgu/581 |
Appears in Collections: | Electrical Engineering and Information Technology (EEIT) |
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Swarm robot communication and cooperation.pdf | 19.8 MB | Adobe PDF |
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