Path Planning of Mobile Agents using AI Technique

Roy, Sayan and Sahoo, Soumya Ranjan (2007) Path Planning of Mobile Agents using AI Technique. BTech thesis.



In this paper, we study coordinated motion in a swarm robotic system, called a swarm-bot. A swarm-bot is a self-assembling and self-organizing. Artifact composed of a swarm of s-bots, mobile robots with the ability to connect to and is connect from each other. The swarm-bot concept is particularly suited for tasks that require all-terrain navigation abilities, such as space exploration or rescue in collapsed buildings. As a first step toward the development of more complex control strategies, we investigate the case in which a swarm-bot has to explore an arena while avoiding falling into holes.
In such a scenario, individual s-bots have sensory–motor limitations that prevent them navigating efficiently. These limitations can be overcome if the s-bots are made to cooperate. In particular, we exploit the s-bots’ ability to physically connect to each other. In order to synthesize the s-bots’ controller, we rely on artificial evolution, which we show to be a powerful tool for the production of simple and effective solutions to the hole avoidance task.

Item Type:Thesis (BTech)
Uncontrolled Keywords:Swarm Robotic System, AI Technique
Subjects:Engineering and Technology > Electronics and Communication Engineering > Sensor Networks
Engineering and Technology > Industrial Engineering
Engineering and Technology > Electronics and Communication Engineering > Artificial Neural Networks
Divisions: Engineering and Technology > Department of Mechanical Engineering
ID Code:84
Deposited By:Anshul Baranwal
Deposited On:05 May 2009 17:28
Last Modified:14 Jun 2012 17:21
Supervisor(s):Parhi, D R

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