Estudio, control e implementación de sistemas robóticos avanzados : aplicación de algoritmos con certificados de barrera para prevenir colisiones en sistemas tipo enjambre.

Abstract

This final degree project proposes the implementation of a swarm robotic system in a simulated environment consisting of an explorer robot and two followers. It also has preset obstacles and a user interface that allows new obstacles to be included at any time and in any coordinate within the environment. The objective is to apply algorithms with barrier certificates to prevent robot collision with their neighbors and with the obstacles. Therefore, each robot executes individual actions that, together, contribute to the optimal functioning of the system. To achieve these goals, collision avoidance and consensus algorithms are programmed for the three robots so nearby objects can be identified and possible collisions with them may be avoided thanks to the use of a proximity laser sensor for the first algorithm and the distance calculation and constant communication between agents for the other. In addition, the explorer robot has a camera and a color detection algorithm that allows it to differentiate between obstacles, which are red and white, and the target of the project that is green. Once the explorer robot finds the target, it sends its coordinates to the followers that start their movement towards them. After carrying out various tests of the simulated environment, we conclude that the implemented algorithms are effective and therefore, the swarm robotic system works correctly.