Virtual Field Simulation Environment for Robot Groups Navigation Analysis

S. Cifuentes, J.M. Girón-Sierra, and J. Jiménez (Spain)


Mobile robots, simulation, robotic teams, potential fields.


In this paper a new simulation environment to develop robotic groups’ control is introduced. The simulation scenarios comprise robots and obstacles as the physical elements to be simulated. While in other environments for robotic groups, the interaction between these objects are defined and managed in the simulation environment core, in the new environment the interaction mechanism between elements is included in the elements themselves, not in the simulation core, so new interactions can be easily modeled and included when needed. Also, using the simulation environment we develop a control method for group robotics introducing a particular approach to the potential field methods: the robots are able to distinguish between several types of fields.

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