scholarly journals Computer Simulation of a Group of Mobile Robots in Special Software Tools

2020 ◽  
Vol 35 ◽  
pp. 04017
Author(s):  
Vadim D. Raskatov ◽  
Vasily I. Rubtsov
Keyword(s):  
Mobile Robots ◽  
Mobile Robotics ◽  
Hazardous Substances ◽  
Multi Agent Systems ◽  
Accurate Analysis ◽  
Fire Extinguishing ◽  
Algorithm Operation ◽  
Modeling Group ◽  
Special Software ◽  
Multi Agent

The problem of controlling a group of special robots for application in the high-risk conditions (for example, for fire extinguishing, search for hazardous substances, or elimination of consequences of emergencies) is solved. According to the task, robots operate in the industrial and urban environment, i.e., the movement of robots is planar. Various strategies of group interaction between robots are analyzed; a literature review is conducted. Due to the task specifics, a decentralized management strategy has been selected. For solving the problem, a movement algorithm of a group of mobile robots with a subsequent visual check of the resulting algorithm operation is proposed. Implementation of the algorithm’s work is performed in the MATLAB environment. For preliminary algorithm verification and modeling of various dangerous cases, a model of robot group using the Mobile Robotics Simulation Toolbox of MATLAB was made. For a more detailed and accurate analysis of the real robot’s behavior, a model in the ROS package has been developed. That model interacts with the developed algorithm through the ROS Toolbox package of MATLAB. This software can be used for the training of engineering staff in the field of mathematical modeling, group control, and multi-agent systems. As a result of verification, the program and the model successfully solve the task. Yet, the model in the ROS package requires greater computational power because of the large number of complex calculations.

New Approach to Optimize Cooperation Mobile Robots for Ideal Coverage with an Architecture Designed with Multi-Agent Systems

2017 ◽  
Vol 19 (4) ◽  
pp. 49-65
Author(s):  
Mami Mohammed Amine ◽  
Khelfi Mohamed Fayçal ◽  
Zineb Laouici ◽  
Benyettou Noria
Keyword(s):  
Mobile Robots ◽  
Mobile Robotics ◽  
Optimal Solutions ◽  
Multi Agent Systems ◽  
Robot System ◽  
New Approach ◽  
Agent Systems ◽  
The Past ◽  
Multi Agent ◽  
Uniform Manner

Mobile Robotics have taken an ever increasing role in everyday life in the past few years. The main objective often reflected in research is to try to have an optimal cooperation between the different robots to achieve a given objective. This cooperation allows one to have optimal solutions for sharing and resolving conflicts. This article proposes a solution to solve the problem of the coverage in environment with obstacles and the cooperation between several mobile robots. The authors developed a heuristic algorithm to optimize the coverage in a multi-robot system, while maintaining the connection between the robots. The proposed algorithm is based on the propagation of the robots as a function of the expansion of a wave in a uniform manner. The authors also integrate a self-reorientation approach to failure if a robot becomes out of race. Finally, this approach is modelled with the ADMs.

New Approach to Optimize Cooperation Mobile Robots for Ideal Coverage with an Architecture Designed with Multi-Agent Systems

2020 ◽  
pp. 1080-1096
Author(s):  
Mami Mohammed Amine ◽  
Khelfi Mohamed Fayçal ◽  
Zineb Laouici ◽  
Benyettou Noria
Keyword(s):  
Mobile Robots ◽  
Heuristic Algorithm ◽  
Mobile Robotics ◽  
Optimal Solutions ◽  
Multi Agent Systems ◽  
Robot System ◽  
New Approach ◽  
Agent Systems ◽  
Multi Agent ◽  
Uniform Manner

Mobile Robotics have taken an ever increasing role in everyday life in the past few years. The main objective often reflected in research is to try to have an optimal cooperation between the different robots to achieve a given objective. This cooperation allows one to have optimal solutions for sharing and resolving conflicts. This article proposes a solution to solve the problem of the coverage in environment with obstacles and the cooperation between several mobile robots. The authors developed a heuristic algorithm to optimize the coverage in a multi-robot system, while maintaining the connection between the robots. The proposed algorithm is based on the propagation of the robots as a function of the expansion of a wave in a uniform manner. The authors also integrate a self-reorientation approach to failure if a robot becomes out of race. Finally, this approach is modelled with the ADMs.

Formation Maneuvering Control of Nonholonomic Multi-Agent Systems

2016 ◽  
Author(s):  
M. Khaledyan ◽  
M. de Queiroz
Keyword(s):  
Mobile Robots ◽  
Numerical Simulations ◽  
Spanning Tree ◽  
Control Law ◽  
Multi Agent Systems ◽  
Type Solution ◽  
Wheeled Mobile Robots ◽  
Kinematic Control ◽  
Agent Systems ◽  
Multi Agent

In this paper, we present a leader-follower type solution to the formation maneuvering problem for multiple, nonholonomic wheeled mobile robots. Our solution is based on the graph that models the coordination among the robots being a spanning tree. Our kinematic control law ensures, in the least squares sense, that the robots globally exponentially acquire a given planar formation while the formation globally exponentially tracks a desired trajectory. The proposed control is demonstrated by numerical simulations of five unicycle vehicles.

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