A decentralized fault-tolerant weights based algorithm for coordination of swarm robots for a disaster scenario

R. Aniketh, E. B. Manohar, G. R. S. P. R. Yazwa, M. Nithya, M. Rashmi
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引用次数: 5

Abstract

Multi-robot systems are reliable and faster at searching and retrieving targets in times of crises as compared to single-robot systems. They are also better compared to manned missions as they are more resistant to hazardous conditions. In this work a method to deploy a swarm of robots to scan and retrieve the targets stuck in a disaster situation is deliberated. The multi-robot system developed is fault tolerant and follows a complete decentralized approach. In the proposed work, the basic elements in a real time search and rescue mission such as exploration of disaster area, target and obstacle detection, path-planning to reach the target in a coordinated way and tolerance for a few possible faults are accomplished using the “weights based algorithm” and the prototype testing done mimics the real time scenario. Communication among the robots in the swarm is implemented by using X-bee modules. The robots search the arena till either all the targets are found or the entire arena is explored and update a common map which renders the approach a decentralized behavior.
基于分散容错权重的灾难场景下群体机器人协调算法
与单机器人系统相比,多机器人系统在危机时刻对目标的搜索和检索速度更快、更可靠。与载人任务相比,它们也更好,因为它们更能抵抗危险条件。本文研究了一种部署一群机器人对陷入灾难的目标进行扫描和检索的方法。所开发的多机器人系统具有容错性,并遵循完全分散的方法。本文采用“基于权重的算法”,实现了实时搜救任务中灾区探测、目标与障碍物检测、协同到达目标的路径规划以及对少数可能故障的容错等基本要素,并模拟了实时场景进行了原型测试。蜂群中机器人之间的通信通过X-bee模块实现。机器人搜索竞技场,直到找到所有目标或探索整个竞技场并更新公共地图,这使得该方法成为分散的行为。
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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