Arduino based multi-robot stick carrying by Artificial Bee Colony optimization algorithm

摘要

Cooperation of the multi-robots is an upcoming appealing area of research in the field of robotics. In this paper, two arduino based mobile robots are carrying a stick by cooperation towards their goal avoiding obstacles. The path planning algorithm is designed with the help of Artificial Bee Colony Optimization (ABCO) algorithm which chooses the optimized path by minimizing the distance between the robots and maximizing the distance from the obstacles. The ultrasonic sensors, encoder, 3-axis compass and XBee module are embedded in the robot to detect obstacle in the path of the robots, the distance travelled by the robot, calculate the direction (coordinate) of the robot and to communicate with other robots respectively. We have also designed our algorithm with the help of differential evolutionary (DE) algorithm. Analyzing the performance of ABCO and DE algorithms, it is observed that ABCO outperforms DE in real-robot experiment with respect to distance metric.