Design And Implementation Of Self-Organizing Swarm Robots System

Swarm robots provide new solutions to many problems.However,researches on swarm robots mainly focus on theoretical researches such as algorithms.Because an actual swarm robots system includes robot hardware,communication,positioning and coordination algorithms,etc.,a complex system costs much,including manpower,time and resources.However,the use of swarm robots in fields such as production and life can not be separated from the study of actual swarm robots system.To this end,this paper designs and implements a self-organizing swarm robots system based on Arduino,which is made up of some two-wheel self-balancing smart cars.In this paper,the research idea of top-down is used.First,the overall framework of self-organizing swarm robots system is proposed.The whole system is divided into five parts of robot entity,communication system,positioning system,coordination algorithm and joint commissioning scheme,this idea is in favour of segmentation and simplification of the complex system.In view of the robot's movement and task execution function,this paper adopts the Arduino-based two-wheel self-balancing smart car as a robot entity.For communication problems in the swarm robots system,this paper selects the wireless communication scheme based on WiFi,using bus topology structure and C/S communication model,at the same time,the broadcast is used for information dissemination.For indoor robot localization,this paper uses a joint positioning strategy on account of the Hall encoder and the inertial sensor.For the coordination algorithm between robots,this paper studied,improved and simulated the artificial fish swarm algorithm.Finally,this paper verifies the feasibility of the self-organizing swarm robots system designed by this project with a speed-keeping formation as an example.Through researching,designing and experimenting,the subject realizes the function of robot's movement and balance,and the robot can perform basic movements such as forward and steering.The swarm robots communication system designed in this paper can also meet the communication needs of the robot and realize information transfer.Master unit individually acquired inertial sensor data,in the one-dimensional direction,this project achieved the goal of positioning and paved the way for further research on the more complete positioning system.The cluster formation simulation experiment based on the artificial fish swarm algorithm realized a formation formation,in addition,the formation experiment based on speed keeping also verified the feasibility of the self-organizing swarm robots system designed in this paper.