Robot Sværm Formation og Udvikling

Studenteropgave: Speciale (inkl. HD afgangsprojekt)

  • Simon B. Mikkelsen
  • René Jespersen
4. semester, Regulering og Automation (cand.polyt.), Kandidat (Kandidatuddannelse)
A large pensum of related papers was studied by
a reading group to gain knownledge in the field
of Swarm Robotics. The aim this study was to
increase the focus of the project to formation of
swarm robots which is expressed in the development
of a formation algorithm.
Methodology presented A unified methodology
for developing swarm robots was presented, solving
the practical problems scientists faces when
working with real world robots. The paper was
submitted and accepted on the RISE10 conference
in Sheffield, England, where both group members
presented their work.
A large Simulink model was developed able
to simulate the behaviour of 10 robots in a
swarm. An formation algorithm using potential
field forces was implemented able to create an attractive
force from communication and a repulsive
force from the measuring of light intensity. From
using both communication and light intensity it
was possible to control both the distance between
the robots and a common phase alignment.
The development of 10 lightweight swarm robots
was represented. Based on an old version using
infrared sensors to navigate and communicate,
a new mechanical chassis was created and
an additional sensorboard able to broadcast was
attatched. Furthermore was the motor controllerboard
replaced with a new designed board providing
both a radio and a bluetooth module. An simple
implementation of the algorithm from simulation,
proved the concept by controling the robots
to the expectet behaviour.
Udgivelsesdato3 jun. 2010
Antal sider63
Udgivende institutionAalborg University
ID: 32371337