a swarm is a group of animals that aggregate and travel in ... · swarm robotics is a new approach...
TRANSCRIPT
SWARM ROBOTS
A swarm is a group of animals that aggregate
and travel in the same direction
Swarm intelligence
Swarm intelligence (SI) is
the collective behaviour
of decentralized, self-
organized systems, natural
or artificial. The concept
is employed in work on
artificial intelligence
Swarm robotics is a new approach
coordination of multirobot systems
collective behavior emerges from the interactions
between the robots and interactions of robots
with the environment.
This approach emerged on the field of artificial
swarm intelligence, as well as the biological
studies of insects, ants and other fields in nature,
where swarm behaviour occurs.
THE PROJECT
GOAL
Autonomous Terrain
Exploration Using
Multiple Robots
Control by a Master
Robot
Slaves reach Master after
a Time Interval
Challenges
Obstacles
Communication between Master and Slaves
GPS co-ordinates of master have to be updated to slaves
Self Navigation of slaves to reach Master after a time interval
Strategies
IR SENSORS for Obstacle detection
IR Beacon Tranciever for Communication
IR Beacon Tranciever for Location Identification
Navigation made possible by some intelligent
coding
OBSTACLE SENSOR
IR Obstacle Sensor
.
Principle Of Operation
IR LED emits infrared
radiation
Surface reflects the
infrared light.
This reflected light is
made incident on reverse
biased IR sensor.
electron-hole pairs are
generated, which results
in reverse leakage current.
This current can be passed through a resistor so as
to get proportional voltage.
This voltage can then be given to OPAMP based
comparator.
The comparator switches between high and low.
IR BEACON TRANCIEVER
Polulu IR Beacon
IR Beacon Transceiver
Device Specifications
IR modulation
frequency: 56 kHz
Detection range: 6 inches
to 20 feet
Supply voltage: 6-16 V
Data voltage: 5 V
Number of IR
detectors: 4
IR receiver
Specifications
Operating Voltage: 2.7 –
5.5 V
Carrier Frequency: 56
kHz
Max data rate: 4000 bps
Power Supply
12.6V,2200mAh(2C) Li-Ion Battery Pack 10 RPM DC Geared Motor
Castor Wheel
Metal Chasis
DC Geared Motor
Wheel
PHYSICAL COMPONENTS
10 RPM DC GEARED MOTOR
Motor Driver
TOP VIEW
Left
sensor
(MSB)
Front
Sensor Right
Sensor
(LSB)
Microcontroller-PIC16F877A
Program Memory- Flash
Program Memory -14(KB)
Data EEPROM -(bytes) 256
Digital Communication Peripherals 1-A/E/USART
Capture/Compare/PWM Peripherals 2 CCP Timers 2 x 8-bit, 1 x 16-bit ADC 8 ch, 10-bit
Temperature Range (C) -40 to 85
Operating Voltage Range (V) 2 to 5.5
Pin Count 40
OBSTACLE AVOIDANCE LOGIC
101 Right Obstacle
Turn Left
100
Right Obstacle
Straight Obstacle
Turn Left
011
Straight Obstacle
Turn left
010
Left Obstacle
Turn right
001 No obstacle
Go straight 000
Left obstacle
Right Obstacle
Go straight
110
Left Obstacle
Straight Obstacle
Go left
111
Left,right,front obstacle
STOP
Logic for Slaves reaching the Master
CONDITIONS 000 North
000 East
000 West
000 South
001 North
001 East
001 West
001 South
010 North
010 East
010 West
010 South like wise Upto 111 North,East,South,West Total 32 Conditions
Unique code assigned to each 32 conditions
Slaves automatically adjusts according to 32
conditions
Reaches Master
Disadvantages
Crude Method
Absence of an definite algorithm
No Time Limit for slaves reaching the master
Programmed in Embedded C using MPLAB(IDE)
MPLAB Integrated Development Environment
(IDE) is a free, integrated toolset for the
development of embedded applications on
Microchip's PIC microcontrollers.
Further Improvement
Develop an algorithm for slaves reaching the
Master
Switch to more accurate Ultrasound Sensors
Add Camera for Surveillance
APPLICATIONS
SPACE EXPLORATION
A Robotic rover
exploring Mars
SEARCH AND RESCUE
SECURITY SURVEILLANCE
MILITARY
ENTERTAINMENT as toys