Coordination and communication of multiple robots in an unknown environment is a great challenge to deal with. In this paper an approach for this particular problem is proposed, in which efficient hybrid architecture is created combining two different approaches for communication and coordination each. Multiple robots are treated as ad hoc mobile nodes and the phenomenon of swarm intelligence is used for them to coordinate, while they use Cluster Head Gateway Switch Routing (CGSR) protocol for communication. Various experiments such as goal reaching and collision avoidance are performed using this architecture. Using this particular framework an application of “detection of land mines in an uneven terrain” is worked upon. The swarm robots communicate and coordinate with each other and the environment to detect the land mines using the proposed architecture, and store its position in a table. This application thus has its focus on saving human lives while exploring the environment consisting of land mines, which has already been explored by robots and thus it becomes safe for them. The hybrid of two algorithms results in better performance of robots in an uneven terrain.
An Architecture for Detection of Land Mines Using Swarm Robots
Emerging Research in Computing, Information, Communication and Applications ; Kapitel : 30 ; 311-323
2015-08-22
13 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Multi-robot communication , Multi-robot coordination , Swarm robotics , Particle swarm optimization , Cluster head gateway switch , Routing protocol Engineering , Communications Engineering, Networks , Information Systems Applications (incl. Internet) , Computer Imaging, Vision, Pattern Recognition and Graphics
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