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The use of a swarm of autonomous robots for bushfire fighting is studied in this work. A novel distributed and behavioral control strategy, the Ant System with Negative Feedback (ASNF), is proposed. Inspired by real ants behavior under crowded conditions, ASNF differs from existing ant based algorithms by introducing a new pheromone, the Crowded Pheromone (CP), into the algorithmic framework. In ASNF,...
The use of a swarm of autonomous robots for simulated bushfire fighting is studied in this work. A distributed and behavioral control strategy, the Ants based Control of Swarm Robots (ACSR), is proposed. In this approach, each fire fighting robot can operate independently from decentralized controllers and the goal is accomplished by the individual robot's own ability. In particular, improvements...
Motion planning and collision avoidance functionality are crucial attributes to the successful deployment of mobile robots. This research analyzes some shortcomings of the canonical F2 method and then presents subgoal-guided force-field (SGF2) method to mitigate these drawbacks. In the proposed approach, a robot identifies openings in an environment in front of itself on the basis of sensor data....
In the dynamic environment, a path planning method of autonomous mobile robot based on fusing and genetic simulated annealing approach is introduced. In this paper, the accurate dynamic environment data is acquired firstly by building ultrasonic data predictive model and the method based on multisensor fusing. Finally, on the based of path planning by using genetic algorithms, forming a genetic simulated...
This paper introduced the basic principles of the ant algorithm. On this basis, the method of dynamic mobile robot path planning based on ant algorithm is also proposed. Finally, the algorithm is certificated by Visual C++ simulation. It has a certain sense to solve the optimization problem that ant algorithm is applied to the mobile robot path planning.
The F (Force Field) method is a novel approach for multi-robot motion planning and collision avoidance. The setting of parameters is however vital to its performance. This paper presents an approach using Particle Swarm Optimization (PSO) to properly determine the control parameters for the F2 method. The goal of the optimization is to minimize the resultant path lengths. The approach presented in...
A force field (F2) based multi-robot collaboration method is presented in this paper. In this method, a virtual force field is generated for every moving robot and continuously changing based on the robot status including its traveling speed, dimension, priority, location and environment, etc. The interactions among robots' force fields and obstacles provide a natural way for collision avoidance and...
In this paper, backstepping-based robust path following controllers are presented to tackle the skidding problem for a type (1,1) car-like WMR. The controllers are designed based on a new general model, which allows the perturbations to be estimated effectively. Backstepping-based controllers are designed based on the estimated information and enhanced by robust control techniques. Simulation results...
We address a decentralized control method for object transportation in coordination by a leader-follower type multiple robot system. The proposed system consists of a pushing leader, a human being or a robot without grasping mechanisms, and multiple follower robots. During the object transportation, only the leader has desired trajectory, and follower robots estimate the trajectory of the leader based...
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