Arduino based multi-robot stick carrying by Artificial Bee Colony optimization algorithm

Proceedings of the 2015 Third International Conference on Computer, Communication, Control and Information Technology (C3IT) Pub Date : 2015-03-16 DOI:10.1109/C3IT.2015.7060152

Pratyusha Das, A. Sadhu, Rishi Raj Vyas, A. Konar, D. Bhattacharyya

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引用次数: 8

Abstract

Cooperation of the multi-robots is an upcoming appealing area of research in the field of robotics. In this paper, two arduino based mobile robots are carrying a stick by cooperation towards their goal avoiding obstacles. The path planning algorithm is designed with the help of Artificial Bee Colony Optimization (ABCO) algorithm which chooses the optimized path by minimizing the distance between the robots and maximizing the distance from the obstacles. The ultrasonic sensors, encoder, 3-axis compass and XBee module are embedded in the robot to detect obstacle in the path of the robots, the distance travelled by the robot, calculate the direction (coordinate) of the robot and to communicate with other robots respectively. We have also designed our algorithm with the help of differential evolutionary (DE) algorithm. Analyzing the performance of ABCO and DE algorithms, it is observed that ABCO outperforms DE in real-robot experiment with respect to distance metric.

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基于Arduino的多机器人操纵杆搬运人工蜂群优化算法

多机器人协作是机器人领域一个新兴的研究热点。在本文中，两个基于arduino的移动机器人通过合作的方式携带一根棍子朝着他们的目标避障。路径规划算法采用人工蜂群优化(Artificial Bee Colony Optimization, ABCO)算法，通过最小化机器人之间的距离和最大化机器人与障碍物的距离来选择最优路径。机器人内嵌超声波传感器、编码器、三轴指南针和XBee模块，分别检测机器人行进路径上的障碍物、机器人行进距离、计算机器人的方向(坐标)以及与其他机器人通信。我们还利用差分进化算法设计了我们的算法。通过对ABCO算法和DE算法的性能分析，发现ABCO算法在实际机器人实验中距离度量方面优于DE算法。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the 2015 Third International Conference on Computer, Communication, Control and Information Technology (C3IT)

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