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Journal of Applied Sciences
  Year: 2009 | Volume: 9 | Issue: 1 | Page No.: 15-26
DOI: 10.3923/jas.2009.15.26
 
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Moving Chain: A Surround-and-Push Method in Object Pushing Using Swarm of Robots

A. Khozaee and A. Ghaffari

Abstract:
In this research, a new approach to develop an object pushing system with a swarm of mobile robots is introduced. This is an attempt to design and develop a system for a swarm of robots and their behaviors to surround and push an object. The robot behaviors are devised in such a way that the robots would easily develop a swarm formation as an orbit around the object and push it toward the desired goal. Roughly speaking, a rotating orbit of robots around the object is developed first. The object is moved toward the goal as the orbit moves to the desired goal configuration. Based on this idea, using a simple decision making, each robot can easily determine its proper action to push the object while remaining in the robot formation. Fuzzy controllers are used to develop behaviors in each robot. Each robot makes decision and behaves individually without any direct communication with others. Based on this individually behavior the group cooperation will perform. The main characteristics of the developed system are independency of the method to the object kinematics and its shape. Moreover, as a result of a swarm system, the method is not dependent on the number of robots in the system. Simulation results are given to support the proposed approach.
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How to cite this article:

A. Khozaee and A. Ghaffari, 2009. Moving Chain: A Surround-and-Push Method in Object Pushing Using Swarm of Robots. Journal of Applied Sciences, 9: 15-26.

DOI: 10.3923/jas.2009.15.26

URL: https://scialert.net/abstract/?doi=jas.2009.15.26

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