Adaptive formation-switching of a multi-robot system in an unknown occluded environment using BAT algorithm
- PDF / 12,322,789 Bytes
- 25 Pages / 595.276 x 790.866 pts Page_size
- 45 Downloads / 227 Views
REGULAR PAPER
Adaptive formation‑switching of a multi‑robot system in an unknown occluded environment using BAT algorithm Dibyendu Roy1 · Madhubanti Maitra2 · Samar Bhattacharya2 Received: 3 August 2020 / Accepted: 13 October 2020 © Springer Nature Singapore Pte Ltd. 2020
Abstract This decade has witnessed a paradigm shift in human-labor based rescue-surveillance operations. Research propositions have explored the possibility of replacing manual intervention for the management of catastrophic situations by a team of robots. However, to implement the concept into practice, the robotics community has faced several challenges. The multirobotic system has to be duly coordinated efficaciously by controllers to automate the operations thereby saving the lives of the rescuers. Subsequently, the controller/s should be able to ensemble the robots forming a particular shape depending on the varying environmental conditions. Moreover, it would allow the group to switch its current formation so that the system could maneuver towards the target while avoiding static/dynamic obstacles. To address these challenges, we have proposed a hierarchical control strategy so that the robots could maintain a strong inter-agent cohesiveness and simultaneously could switch their formation in the face of the changing situations and could pursue the goal of arriving towards the target. The formation control law has been designed based on the echolocation principle of the bio-inspired bat algorithm. The algorithm, corroborated by the simulation results and the real-time experiments is exceptionally useful for forming the desired pattern, changing the formation adaptively whenever obstructions show up in their trajectories. Keywords Adaptive control · Formation switching · BAT algorithm · Hierarchical control scheme
1 Introduction Tasks that require parallelism, redundancy, and adjustment in a dynamic scenario can conceivably be performed adeptly by a swarm robotic framework (Sheng et al. 2006), which would consist of a group of autonomous or semi-autonomous robotic agents equipped with partial sensing, communication, and computation abilities. Swarm robotics systems are beneficial over solitary robotic architecture (Mohan and Ponnambalam 2009) in terms of quick and efficient accomplishment of the mission objectives even in a complex
* Dibyendu Roy [email protected] Madhubanti Maitra [email protected] Samar Bhattacharya [email protected] 1
TCS Research and Innovation, Kolkata, India
Electrical Engineering Department, Jadavpur University, Kolkata, India
2
circumstance. Moreover, while navigating through a hazardous situation, the disappointment of one robot should not prompt to the catastrophe of the entire system (Maeda et al. 2017). The development of such architecture includes some major challenges such as accurate estimation of the swarm performance and design of a robotic controller for delivering desirable outcomes (Lu et al. 2016; Wang et al. 2016). Furthermore, it is necessary to control each
Data Loading...
