Coordinated Movement of Multiple Robots in Outdoor Environment with Obstacles Pages
Ján Šovčík, Martin Kajan, František Duchoň, Martin Florek, Peter Hubinský and Khanh Duong Quang
Institute of Robotics and Cybernetics, Faculty of Electrical Engineering and Information Technology, Slovak University of Technology in Bratislava, Ilkovičova 3, 812 19 Bratislava, Slovak Republic
Abstract: This article mainly focuses on the proposal of the program that coordinates the movement of multiple robots in outdoor environment. The emphasis of the proposed algorithm is on collision free movement. Simulation with four robots that are controlled in an environment with obstacles is the result of these experiments. The formation of robots consists of a leader and three following robots, which are trying to copy leader’s movement. Robots use GPS, laser rangefinder, as well as bumpers sensors for the environment scanning. GPS is used as positioning sensor and other sensors are used for reactive navigation. Besides that, simulation uses virtual reality from Microsoft Robotics Studio 4 (MRS). In addition, programming language used for this simulation is called Visual Programming Language. Advantage of MRS usage is that the final code can be simply transferred into real robots.
Keywords: Multiple Robots, GPS, Microsoft Robotics Studio, differential drive, outdoor environment, obstacle, Introduction.