Modified bug-1 algorithm based strategy for obstacle avoidance in multi robot system
| Autor: | Somashekhar S. Hiremath, Robins Mathew, Jom J. Kandathil |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2018 |
| Předmět: |
Multi Robot System
Exhaustive search algorithm Computer science 0211 other engineering and technologies Mobile robot 02 engineering and technology Mobile robot system 020303 mechanical engineering & transports Robotic systems 0203 mechanical engineering lcsh:TA1-2040 SAFER Mobile Robot 021105 building & construction Obstacle avoidance Robot BUG Algorithm Focus (optics) lcsh:Engineering (General). Civil engineering (General) Algorithm Simulation Obstacle Avoidance |
| Zdroj: | MATEC Web of Conferences, Vol 144, p 01012 (2018) |
| Popis: | One of the primary ability of an intelligent mobile robot system is obstacle avoidance. BUG algorithms are classic examples of the algorithms used for achieving obstacle avoidance. Unlike many other planning algorithms based on global knowledge, BUG algorithms assume only local knowledge of the environment and a global goal. Among the variations of the BUG algorithms that prevail, BUG-0, BUG-1 and BUG-2 are the more prominent versions. The exhaustive search algorithm present in BUG-1 makes it more reliable and safer for practical applications. Overall, this provides a more predictable and dependable performance. Hence, the essential focus in this paper is on implementing the BUG-1 algorithm across a group of robots to move them from a start location to a target location. The results are compared with the results from BUG-1 algorithm implemented on a single robot. The strategy developed in this work reduces the time involved in moving the robots from starting location to the target location. Further, the paper shows that the total distance covered by each robot in a multi robot-system is always lesser than or equal to that travelled by a single robot executing the same problem. |
| Databáze: | OpenAIRE |
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