Open AccessA Multi-robot System Coordination Design and Analysis on Wall Follower Robot Group
Author(s) -
Agung Nugroho Jati,
Randy Erfa Saputra,
M. Ghozy Nurcahyadi,
Nasy'an Taufiq Al Ghifary
Publication year - 2018
Publication title -
international journal of electrical and computer engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.277
H-Index - 22
ISSN - 2088-8708
DOI - 10.11591/ijece.v8i6.pp5098-5106
Subject(s) - robot , computer science , process (computing) , simulation , workspace , turning radius , robot control , real time computing , mobile robot , artificial intelligence , engineering , mechanical engineering , operating system
In this research, multi-robot formation can be established according to the environment or workspace. Group of robots will move sequently if there is no space for robots to stand side by side. Leader robot will be on the front of all robots and follow the right wall. On the other hand, robots will move side by side if there is a large space between them. Leader robot will be tracked the wall on its right side and follow on it while every follower moves side by side. The leader robot have to broadcast the information to all robots in the group in radius 9 meters. Nevertheless, every robot should be received information from leader robot to define their movements in the area. The error provided by fuzzy output process which is caused by read data from ultrasound sensor will drive to more time process. More sampling can reduce the error but it will drive more execution time. Furthermore, coordination time will need longer time and delay. Formation will not be establisehed if packet error happened in the communication process because robot will execute wrong command.