A master thesis from Aalborg University
Robot Swarm Formation and Development
[Robot Sværm Formation og Udvikling]
Author(s)
Term
4. term
Education
Publication year
2010
Submitted on
2010-06-03
Pages
63 pages
Abstract
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.
Keywords
Documents
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