Cellular Robotics: Behaviour in Polluted Environments
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Abstract:
A research about the Cellular Robotic System (CRS) behaviour in polluted environments and a comparison of its performances with respect to single robots is proposed in this paper. Each robotic unit is equipped with a sensory system with three pairs of ultrasonic sensors, two chemical sensors to detect gas sources and a communication system based on an infrared transmitter and receiver. Useful information has been given by the study of cooperative behaviours. A software simulator coded in C language, based on an earlier version accomplished at LIRA-- Lab, allows to study cooperation strategies in the presence of a gradient caused by a gas leak. A simple, but realistic enough, method to simulate a gas expansion and a function that realizes the gas sensor simulation have been introduced. Sensorial data management, gas source location strategies and many techniques to reach a cooperative behaviour are illustrated. Different simulation steps have been obtained varying both working environments and simulation parameters: they allow to evaluate the performances of the CRS and to illustrate interesting experimental results. The design and realization of a hardware board to make real robots able of understanding the distance among robotic units and the meaning of the transmitted message is also illustrated in this paper along with a simple experiment based on 3 small-scale mobile robots. 1
Citations
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| 1 | Realizzazione di un ambiente di simulazione e studio delle strategie di cooperazione per la ricerca di percorsi in sistemi multi-robot auto-organizzati. Master's thesis, Universit`a di – Cerutti - 1992 |
| 1 | Cellular robotics: a simulation and hardware implementation – Sandini, Varoli, et al. - 1993 |
