Modeling and Simulink of TWO PHASE SWARM ROBOTICS FOR DIFFERENTIAL MOBILE ROBOTS USING ROBOTIC TOOLBOXES
Implementation plan:
—————————
Step 1: Initially, we design a swarm of differential mobile robots using robotic toolboxes.
Step 2: Then, we implement the robots collaboratively, perform SLAM and build a shared environment map.
Step 3: Next, we create a boxed simulation arena with configurable obstacles within the environment.
Step 4: Then, we enable decentralized leader election among robots and form dynamic clusters of predefined sizes.
Step 5: Next, each cluster operates as a semi-reconfigurable modular unit performing obstacle avoidance and high-level missions like search-and-rescue.
Step 6: Next, we optimize swarm parameters and visualize convergence graphs using PSO/ACO optimization algorithms.
Step 7: Finally, we plot performance metrics for the following:
7.1: Number of Robots Vs Mapping Accuracy (%)
7.2: Number of Robots Vs Task Completion Time (s)
7.3: Number of Clusters Vs Formation Stability (%)
Software Requirements:
—————————–
1. Development Tool: MATLAB R2023a or above
2. Operating System: Windows 10 (64-bit) or above
Note:
——-
1) If the proposed plan does not fully align with your requirements, please provide all necessary details—including steps, parameters, models, and expected outcomes—in advance. Kindly ensure that any missing configurations or specifications are clearly outlined in the plan before confirming.
2) If there’s no built-in solution for what the project needs, we can always turn to reference models, customize our own, different math models or write the code ourselves to fulfil the process.
3) If the plan satisfies your requirement, Please confirm with us.
4) Project based on Simulation only.
