Madhevan Balasundaram and Sreekumar Muthuswamy
Multi robot coordination, fault tree analysis, obstacle avoidance,role assignment, leader–follower approach
Various control approaches have been designed to achieve coordination among multi robots in a group. One among them is the leader–follower approach (LFA) where one robot acts as a leader whose motion defines the path for the entire group. However, the leader robot may fail due to internal and external disturbances while navigating in an unknown environment where the robots do not have any prior information about the environment. If the leader fails, one of the follower robots within the group can be assigned as a new leader so as to accomplish the planned trajectory. A role assignment (RA) scheme for identifying a new leader robot among the group of robots, in case of failure of a previously assigned leader robot, is presented in this work. This scheme combines techniques such as LFA, fault tree analysis with fuzzy triangles, virtual robot experimentation platform, and dynamic RA algorithm. Three distinct types of RA scheme have been developed and tested under various types of environment with obstacles and environmental constraints. Further, the robot team considered for this work consists of one leader robot and three followers. The optimal time taken to reach the goal with RA has been determined.
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