DESIGN AND IMPLEMENTATION OF ARDUINO BASED MULTI ROBOT FOR TARGET TRACKINGSYSTEM
SWARM robotics or multi robot systems is a novel approach to the coordination of large numbers of relatively simple robots which takes its inspiration from social insects ants, termites, wasps and bees etc. Local communication can be achieved by different types of wireless transmission systems. Different types of sensing system, Communication system and design approaches are used in SWARM robotics. This paper presents a controller design and hardware specifications of robot for SWARM application using Arduino MEGA-2560 which is having Atmel’s ATmega2560 microcontroller. Implementation details are explained, and application of the multi-agent system is verified through algorithms. Multi Robot Communication is implemented to achieve Leader-Follower approach of SWARM navigation where leader robot guides the slave robots. Target Tracking or Move to Goal algorithm is implemented on robot which allows one robot to reach target directed by other robot. Communication between robots is achieved using low costCC2500 wireless transceiver module which is designed for very low-power wireless applications. The robot capability model and the task capability model are established, based on the distance between the robot and the target task and the matching degree between the robot capability and the task, a task allocation problem model is established to solve the problem of heterogeneous multi-robot collaborative task allocation.
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