| Issue |
MATEC Web Conf.
Volume 144, 2018
International Conference on Research in Mechanical Engineering Sciences (RiMES 2017)
|
|
|---|---|---|
| Article Number | 01012 | |
| Number of page(s) | 10 | |
| Section | Machine Design | |
| DOI | https://doi.org/10.1051/matecconf/201814401012 | |
| Published online | 09 January 2018 | |
Modified bug-1 algorithm based strategy for obstacle avoidance in multi robot system
Department of Mechanical Engineering, Indian Institute of Technology Madras, Chennai
* Corresponding author: somashekhar@iitm.ac.in
One of the primary ability of an intelligent mobile robot system is obstacle avoidance. BUG algorithms are classic examples of the algorithms used for achieving obstacle avoidance. Unlike many other planning algorithms based on global knowledge, BUG algorithms assume only local knowledge of the environment and a global goal. Among the variations of the BUG algorithms that prevail, BUG-0, BUG-1 and BUG-2 are the more prominent versions. The exhaustive search algorithm present in BUG-1 makes it more reliable and safer for practical applications. Overall, this provides a more predictable and dependable performance. Hence, the essential focus in this paper is on implementing the BUG-1 algorithm across a group of robots to move them from a start location to a target location. The results are compared with the results from BUG-1 algorithm implemented on a single robot. The strategy developed in this work reduces the time involved in moving the robots from starting location to the target location. Further, the paper shows that the total distance covered by each robot in a multi robot-system is always lesser than or equal to that travelled by a single robot executing the same problem.
Key words: BUG Algorithm / Obstacle Avoidance / Mobile Robot / Multi Robot System / Simulation
© The Authors, published by EDP Sciences, 2018
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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