The Leader detecting and following are one of the main challenges in designing a leader-follower multi-robot system, in addition to the challenge of achieving the formation between the robots, while tracking the leader. The biological system is one of the main sources of inspiration for understanding and designing such multi-robot systems, especially, the aggregations that follow an external stimulus such as light. In this paper, a multi-robot system in which the robots are following a spotlight is designed based on the behavior of the Artemia aggregations. Three models are designed: kinematic and two dynamic models. The kinematic model reveals the light attraction behavior of the Artemia aggregations. The dynamic model will be derived based on the newton equation of forces and its parameters are evaluated by two methods: first, a direct method based on the physical structure of the robot and, second, the Least Square Parameter Estimation method. Several experiments are implemented in order to check the success of the three proposed systems and compare their performance. The experiments are divided into three scenarios of simulation according to three paths: the straight line, circle, zigzag path. The V-Rep software has been used for the simulation and the results appeared the success of the proposed system and the high performance of tracking the spotlight and achieving the flock formation, especially the dynamic models.
In modern robotic field, many challenges have been appeared, especially in case of a multi-robot system that used to achieve tasks. The challenges are due to the complexity of the multi-robot system, which make the modeling of such system more difficult. The groups of animals in real world are an inspiration for modeling of a multi- individual system such as aggregation of Artemia. Therefore, in this paper, the multi-robot control system based on external stimuli such as light has been proposed, in which the feature of tracking Artemia to the light has been employed for this purpose. The mathematical model of the proposed design is derived and then Simulated by V-rep software. Several experiments are implemented in order to evaluate the proposed design, which is divided into two scenarios. The first scenario includes simulation of the system in situation of attraction of robot to fixed light spot, while the second scenario is the simulation of the system in the situation of the robots tracking of the movable light spot and formed different patterns like a straight-line, circular, and zigzag patterns. The results of experiments appeared that the mobile robot attraction to high-intensity light, in addition, the multi-robot system can be controlled by external stimuli. Finally, the performance of the proposed system has been analyzed.
A new algorithm for multi-object recognition and localization is introduced in this paper. This algorithm deals with objects which have different reflectivity factors and distinguish color with respect to the other objects. Two beacons scan multi-color objects using long distance IR sensors to estimate their absolute locations. These two beacon nodes are placed at two corners of the environment. The recognition of these objects is estimated by matching the locations of each object with respect to the two beacons. A look-up table contains the distances information about different color objects is used to convert the reading of the long distance IR sensor from voltage to distance units. The locations of invisible objects are computed by using absolute locations of invisible objects method. The performance of introduced algorithm is tested with several experimental scenarios that implemented on color objects.
This paper presents the designing of path planning system in an environment contains a set of static polygon obstacles localized and distributed randomly by using differential drive mobile robot. In this paper the designed algorithm (two dimensional path planning algorithm) is proposed in order of investigate the path planning of mobile robot with free collision using the visibility binary tree algorithm. The suggested algorithm is compared with the virtual circles tangents algorithm in the time of arrival and the longest of the path to the target. The aim of this paper is to get an algorithm has better performance than the other algorithms and get less time of arrival and shortest path with free collision.
In this paper, a new algorithm called the virtual circle tangents is introduced for mobile robot navigation in an environment with polygonal shape obstacles. The algorithm relies on representing the polygonal shape obstacles by virtual circles, and then all the possible trajectories from source to target is constructed by computing the visible tangents between the robot and the virtual circle obstacles. A new method for searching the shortest path from source to target is suggested. Two states of the simulation are suggested, the first one is the off-line state and the other is the on-line state. The introduced method is compared with two other algorithms to study its performance.
This paper provides a two algorithms for designing robust formation control of multiple robots called Leader- Neighbor algorithm and Neighbor-Leader algorithm in unknown environment. The main function of the robot group is to use the RP lidar sensor attached to each robot to form a static geometric polygon. The algorithms consist of two phases implemented to investigate the formation of polygon shape. In the leading- neighbor algorithm, the first stage is the leader alignment and the adjacent alignment is the second stage. The first step uses the information gathered by the main RP Lidar sensor to determine and compute the direction of each adjacent robot. The adjacent RP Lidar sensors are used to align the adjacent robots of the leader by transferring these adjacent robots to the leader. By performing this stage, the neighboring robots will be far from the leader. The second stage uses the information gathered by adjacent RP sensors to reposition the robots so that the distance between them is equal. On the other hand, in the neighbor-leader algorithm, the adjacent robots are rearranged in a regular distribution by moving in a circular path around the leader, with equal angles between each of the two neighbor robots. A new distribution will be generated in this paper by using one leader and four adjacent robots to approve the suggested leader neighbor algorithm and neighbor-leader algorithm .
A new algorithm for the localization and identification of multi-node systems has been introduced in this paper; this algorithm is based on the idea of using a beacon provided with a distance sensor and IR sensor to calculate the location and to know the identity of each visible node during scanning. Furthermore, the beacon is fixed at middle of the frame bottom edge for a better vision of nodes. Any detected node will start to communicate with the neighboring nodes by using the IR sensors distributed on its perimeter; that information will be used later for the localization of invisible nodes. The performance of this algorithm is shown by the implementation of several simulations .
A robot is a smart machine that can help people in their daily lives and keep everyone safe. the three general sequences to accomplish any robot task is mapping the environment, the localization, and the navigation (path planning with obstacle avoidance). Since the goal of the robot is to reach its target without colliding, the most important and challenging task of the mobile robot is the navigation. In this paper, the robot navigation problem is solved by proposed two algorithms using low-cost IR receiver sensors arranged as an array, and a robot has been equipped with one IR transmitter. Firstly, the shortest orientation algorithm is proposed, the robot direction is corrected at each step of movement depending on the angle calculation. secondly, an Active orientation algorithm is presented to solve the weakness in the preceding algorithm. A chain of the active sensors in the environment within the sensing range of the virtual path is activated to be scan through the robot movement. In each algorithm, the initial position of the robot is detected using the modified binary search algorithm, various stages are used to avoid obstacles through suitable equations focusing on finding the shortest and the safer path of the robot. Simulation results with multi-resolution environment explained the efficiency of the algorithms, they are compatible with the designed environment, it provides safe movements (without hitting obstacles) and a good system control performance. A Comparison table is also provided.
In coordination of a group of mobile robots in a real environment, the formation is an important task. Multi- mobile robot formations in global knowledge environments are achieved using small robots with small hardware capabilities. To perform formation, localization, orientation, path planning and obstacle and collision avoidance should be accomplished. Finally, several static and dynamic strategies for polygon shape formation are implemented. For these formations minimizing the energy spent by the robots or the time for achieving the task, have been investigated. These strategies have better efficiency in completing the formation, since they use the cluster matching algorithm instead of the triangulation algorithm.
In this paper, a new algorithm called table-based matching for multi-robot (node) that used for localization and orientation are suggested. The environment is provided with two distance sensors fixed on two beacons at the bottom corners of the frame. These beacons have the ability to scan the environment and estimate the location and orientation of the visible nodes and save the result in matrices which are used later to construct a visible node table. This table is used for matching with visible-robot table which is constructed from the result of each robot scanning to its neighbors with a distance sensor that rotates at 360⁰; at this point, the location and identity of all visible nodes are known. The localization and orientation of invisible robots rely on the matching of other tables obtained from the information of visible robots. Several simulations implementation are experienced on a different number of nodes to submit the performance of this introduced algorithm.
This paper proposes a low-cost Light Emitting Diodes (LED) system with a novel arrangement that allows an indoor multi- robot localization. The proposed system uses only a matrix of low-cost LED installed uniformly on the ground of an environment and low-cost Light Dependent Resistor (LDR), each equipped on bottom of the robot for detection. The matrix of LEDs which are driven by a modified binary search algorithm are used as active beacons. The robot localizes itself based on the signals it receives from a group of neighbor LEDs. The minimum bounded circle algorithm is used to draw a virtual circle from the information collected from the neighbor LEDs and the center of this circle represents the robot’s location. The propose system is practically implemented on an environment with (16*16) matrix of LEDs. The experimental results show good performance in the localization process.
In a counterfeit clever control procedure, another productive methodology for an indoor robot localization framework is arranged. In this paper, a new mathematic calculation for the robot confinement framework utilizing light sensors is proposed. This procedure takes care of the issue of localization (position recognizing) when utilizing a grid of LEDs distributed uniformly in the environment, and a multi- portable robot outfitted with a multi-LDRs sensor and just two of them activate the visibility robot. The proposed method is utilized to assess the robot's situation by drawing two virtual circles for each two LDR sensors; one of them is valid and the other is disregarded according to several suggested equations. The midpoint of this circle is assumed to be the robot focus. The new framework is simulated on a domain with (n*n) LEDs exhibit. The simulation impact of this framework shows great execution in the localization procedure.
The demand for application of mobile robots in performing boring and extensive tasks are increasing rapidly due to unavailability of human workforce. Navigation by humans within the warehouse is one among such repetitive and exhaustive task. Autonomous navigation of mobile robots for picking and dropping the shelves within the warehouse will save time and money for the warehousing business. Proposing an optimization model for automated storage and retrieval systems by the goals of its planning is investigated to minimize travel time in multi-robot systems. This paper deals with designing a system for storing and retrieving a group of materials within an environment arranged in rows and columns. Its intersections represent storage locations. The title of any subject is indicated by the row number and the column in it. A method was proposed to store and retrieve a set of requests (materials) using a number of robots as well as one receiving and delivery port. Several simulation results are tested to show this improvement in length of path and time of arrival.
In this paper, a new technique for multi-robot localization in an unknown environment, called the leader-follower localization algorithm is presented. The framework utilized here is one robot that goes about as a leader and different robots are considered as followers distributed randomly in the environment. Every robot equipped with RP lidar sensors to scan the environment and gather information about every robot. This information utilized by the leader to distinguish and confine every robot in the environment. The issue of not noticeable robots is solved by contrasting their distances with the leader. Moreover, the equivalent distance robot issue is unraveled by utilizing the permutation algorithm. Several simulation scenarios with different positions and orientations are implemented on (3- 7) robots to show the performance of the introduced technique.