Distributed Autonomous Robotic Systems 6 by K. Stoy, R. Nagpal (auth.), Rachid Alami Ph.D., Raja Chatila

By K. Stoy, R. Nagpal (auth.), Rachid Alami Ph.D., Raja Chatila Ph.D., Hajime Asama Ph.D. (eds.)

DARS is now a well-established convention that gathers each years the most researchers in dispensed Robotics platforms. no matter if the sector is growing to be, it's been maintained a one-track convention to be able to implement potent exchanges among the most researchers within the box. It now a well-established culture to submit the most contributions as a booklet from Springer. There are already five books entitled "Distributed self sustaining robot platforms" 1 to 5.

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The difficulty happens due to the direct hit of another mobile robot's sonar sensor. To avoid the fault detection, in the experiment, the mobile robot broadcast their position through wireless LAN. The broadcasted position information is used only when mobile robots are too close to each other. The position information is used to recover the fault sensor readings. The goal of the mobile robots in the experiment is to switch their position. There is a static obstacle in the middle of the environment.

1 ^2 % Fig. 4. Graph of histogram from the SV of each sector is used to calculated the cost of driving from the current position to the proposed destinations based on the information in the occupancy grid map. a is the approximated direction, which has the lowest cost to the goal(Fig. ). The driving cost is calculated from goal point to the current position of the mobile robot. By backtracking the search in the limited number of step the approximated direction to goal position can be obtained.

T h e problem has been studied in previous works[1],[2],[3], [4], [5]. Our method is the extended version of Vector Field Histogram(VFH) method[l]. Our method utilizes raw sonar sensor readings to rapidly avoid obstacles. The method is called Sensor Based Vector Field Histogram(SBVFH). g. other mobile robots) in the environments. The method navigates a mobile robot safely, even with a noisy sensors (such as sonar sensor). T h e mobile robot is goal-directed while trying to avoid obstacles. The mobile robots is able to avoid collision with each other.

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