Designing and Constructing Swarm Robot System Case: Maneuverability and Formation Strategies Configuration
The objective of this thesis project is to configuremobile robot maneuverability and formation control inmulti-robot system with swarming behavior which implements usage of captured and shared information throughout the group to establish the movement. Configuration of multi-robot formation is indicated by the development of the individual maneuverability resulted by Ackerman steering wheel principle. Fine movement of each mobile robot can be integrated to multi-robotic motion planning in order to develop efficient control system with limited amount of information acquired from input of the system. Applied control system of swarm robotic is limited to five homogenous robots constructed during this project. This thesis work is generally focuses on calculation of maneuvers and transitions between formations concerning flexibility during simultaneous motion. Development of swarm robotic system is done along with Aaron Richard, Gandhi Winata, and Glenn Vialli handling communication, driver system, and vision system, respectively.
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