Comparison of the behavior of swarm robots with their computer simulations applying target-searching algorithms
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Author (Corporation)
Publication date
2018
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01A - Journal article
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International Journal of Mechanical Engineering and Robotics Research
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Volume
7
Issue / Number
5
Pages / Duration
507-514
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Publisher / Publishing institution
Engineering and Technology
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Abstract
This paper investigates the functionality and quality of the implementation of a search and target surrounding swarm robotic algorithm using physical swarm robots named Kilobots. The implementation was developed and tested in the simulator V-REP, then transferred onto the actually running Kilobots: Ten Kilobots were used for the experiment, where one Kilobot acts as the target and nine Kilobots act as the searchers. The algorithm allows the searchers to swarm out to find the target while avoiding collisions with other searchers, to orbit around other searchers, which are closer to the target, and finally to surround the target once it is found. The results of the implementation using the physical Kilobots are compared with the results of two adjusted computer simulations. Differences between the simulations and the real robot implementation are investigated: Discrepancies regarding the locomotion and the communication capabilities are identified and discussed.
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330 - Wirtschaft
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ISBN
ISSN
2278-0149
Language
English
Created during FHNW affiliation
Yes
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Publication status
Published
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Peer review of the complete publication
Open access category
Gold
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Citation
ZHONG, Jia, Rolf DORNBERGER und Thomas HANNE, 2018. Comparison of the behavior of swarm robots with their computer simulations applying target-searching algorithms. International Journal of Mechanical Engineering and Robotics Research. 2018. Bd. 7, Nr. 5, S. 507–514. DOI 10.18178/IJMERR.7.5.507-514. Verfügbar unter: https://doi.org/10.26041/fhnw-6823