Coordinated movement of multiple robots in an unknown and cluttered environment

NG WEE KIAT

Publication

Coordinated movement of multiple robots in an unknown and cluttered environment

NG WEE KIAT

Abstract

This thesis presents the development of an algorithm that enables multiple robots to move in a group inside an unknown and cluttered environment. A target is to be placed at an unknown position for the robots to locate. These robots are formulated with a system architecture that is decentralized, autonomous, localized and homogeneous. In order to realize this, every individual robot is programmed with same four reactive behaviours to direct their motion. These behaviours are obstacles negotiation, homing, flocking and migration. According to the specific local stimuli from the environment, the robots will adopt only one of these behaviours at a time.