Publication Type:

Conference Paper

Source:

2016 International Conference on Advances in Computing, Communications and Informatics (ICACCI) (2016)

Keywords:

Bluetooth, Bluetooth RSSI based collision avoidance, Collision avoidance, collision-free path planning, Decentralized approach, digital simulation, fixed priority level, Mobile robots, Multi-robot systems, multiple mobile robots, multirobot environment, obstacle avoidance, Path Planning, robot kinematics, Robot sensing systems, RSSI, state based obstacle avoidance algorithm, Swarm robotics, variable speed technique, Webots 3D simulator

Abstract:

Multi-robot system is gaining its importance in robotic research. One critical issue in multi-robot system is collision among the mobile robots while sharing same workspace. This paper deals with the collision-free path planning for multiple mobile robots using Bluetooth RSSI value. In the proposed collision avoidance algorithm a decentralized approach with fixed priority level for robots is considered. A variable speed technique based on the RSSI value of robots is used and the obstacle avoidance is implemented based on State based Obstacle Avoidance Algorithm. Proposed algorithm is implemented and tested using Webots 3D simulator.

Cite this Research Publication

L. P. Amrita and Nippun Kumaar A A, “Bluetooth RSSI based collision avoidance in multirobot environment”, in 2016 International Conference on Advances in Computing, Communications and Informatics (ICACCI), 2016.

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