On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics

Girish Balasubramanian; Senthil Arumugam Muthukumaraswamy; Xianwen Kong

doi:10.1007/978-981-16-0708-0_10

On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics

Girish Balasubramanian^*, Senthil Arumugam Muthukumaraswamy, Xianwen Kong

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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Abstract

Obstacle avoidance is a major hurdle when implementing mobile robots and swarm robots. Swarm robots work in groups and therefore require an efficient and functional obstacle avoidance algorithm to stay collision free between themselves and their surroundings. This paper reviews previous research in obstacle avoidance implementation using the force field method (FFM), also known as potential field method (PFM). Moreover, this paper aims to execute simulations using a modified and simplified force field algorithm. The obtained results are analysed to identify the performance characteristics and the time taken to perform tasks using a singular mobile robot against a swarm robot environment consisting of four and ten robots, respectively. Simulations showed that the algorithm was successful in navigating obstacles for both single and swarm robot environments. A single robot was found to take up to 340% longer to arrive at the required location compared to the first robot in the experiment.

Original language	English
Title of host publication	Soft Computing and its Engineering Applications
Subtitle of host publication	icSoftComp 2020
Editors	Kanubhai K. Patel, Deepak Garg, Atul Patel, Pawan Lingras
Publisher	Springer
Pages	111-122
Number of pages	12
ISBN (Electronic)	9789811607080
ISBN (Print)	9789811607073
DOIs	https://doi.org/10.1007/978-981-16-0708-0_10
Publication status	Published - 2021
Event	2nd International Conference on Soft Computing and its Engineering Applications 2020 - Virtual, Online Duration: 11 Dec 2020 → 12 Dec 2020

Publication series

Name	Communications in Computer and Information Science
Volume	1374
ISSN (Print)	1865-0929
ISSN (Electronic)	1865-0937

Conference

Conference	2nd International Conference on Soft Computing and its Engineering Applications 2020
Abbreviated title	icSoftComp 2020
City	Virtual, Online
Period	11/12/20 → 12/12/20

Keywords

Force field algorithm
Multi robot systems
Obstacle avoidance
Performance
Proximity sensor
Swarm robotics

ASJC Scopus subject areas

General Computer Science
General Mathematics

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10.1007/978-981-16-0708-0_10

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Balasubramanian, G., Muthukumaraswamy, S. A., & Kong, X. (2021). On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics. In K. K. Patel, D. Garg, A. Patel, & P. Lingras (Eds.), Soft Computing and its Engineering Applications: icSoftComp 2020 (pp. 111-122). (Communications in Computer and Information Science; Vol. 1374). Springer. https://doi.org/10.1007/978-981-16-0708-0_10

Balasubramanian, Girish ; Muthukumaraswamy, Senthil Arumugam ; Kong, Xianwen. / On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics. Soft Computing and its Engineering Applications: icSoftComp 2020. editor / Kanubhai K. Patel ; Deepak Garg ; Atul Patel ; Pawan Lingras. Springer, 2021. pp. 111-122 (Communications in Computer and Information Science).

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title = "On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics",

abstract = "Obstacle avoidance is a major hurdle when implementing mobile robots and swarm robots. Swarm robots work in groups and therefore require an efficient and functional obstacle avoidance algorithm to stay collision free between themselves and their surroundings. This paper reviews previous research in obstacle avoidance implementation using the force field method (FFM), also known as potential field method (PFM). Moreover, this paper aims to execute simulations using a modified and simplified force field algorithm. The obtained results are analysed to identify the performance characteristics and the time taken to perform tasks using a singular mobile robot against a swarm robot environment consisting of four and ten robots, respectively. Simulations showed that the algorithm was successful in navigating obstacles for both single and swarm robot environments. A single robot was found to take up to 340% longer to arrive at the required location compared to the first robot in the experiment.",

keywords = "Force field algorithm, Multi robot systems, Obstacle avoidance, Performance, Proximity sensor, Swarm robotics",

author = "Girish Balasubramanian and Muthukumaraswamy, {Senthil Arumugam} and Xianwen Kong",

note = "Publisher Copyright: {\textcopyright} 2021, Springer Nature Singapore Pte Ltd. Copyright: Copyright 2021 Elsevier B.V., All rights reserved.; 2nd International Conference on Soft Computing and its Engineering Applications 2020, icSoftComp 2020 ; Conference date: 11-12-2020 Through 12-12-2020",

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doi = "10.1007/978-981-16-0708-0_10",

language = "English",

isbn = "9789811607073",

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Balasubramanian, G, Muthukumaraswamy, SA & Kong, X 2021, On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics. in KK Patel, D Garg, A Patel & P Lingras (eds), Soft Computing and its Engineering Applications: icSoftComp 2020. Communications in Computer and Information Science, vol. 1374, Springer, pp. 111-122, 2nd International Conference on Soft Computing and its Engineering Applications 2020, Virtual, Online, 11/12/20. https://doi.org/10.1007/978-981-16-0708-0_10

On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics. / Balasubramanian, Girish; Muthukumaraswamy, Senthil Arumugam ; Kong, Xianwen.
Soft Computing and its Engineering Applications: icSoftComp 2020. ed. / Kanubhai K. Patel; Deepak Garg; Atul Patel; Pawan Lingras. Springer, 2021. p. 111-122 (Communications in Computer and Information Science; Vol. 1374).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics

AU - Balasubramanian, Girish

AU - Muthukumaraswamy, Senthil Arumugam

AU - Kong, Xianwen

PY - 2021

Y1 - 2021

N2 - Obstacle avoidance is a major hurdle when implementing mobile robots and swarm robots. Swarm robots work in groups and therefore require an efficient and functional obstacle avoidance algorithm to stay collision free between themselves and their surroundings. This paper reviews previous research in obstacle avoidance implementation using the force field method (FFM), also known as potential field method (PFM). Moreover, this paper aims to execute simulations using a modified and simplified force field algorithm. The obtained results are analysed to identify the performance characteristics and the time taken to perform tasks using a singular mobile robot against a swarm robot environment consisting of four and ten robots, respectively. Simulations showed that the algorithm was successful in navigating obstacles for both single and swarm robot environments. A single robot was found to take up to 340% longer to arrive at the required location compared to the first robot in the experiment.

AB - Obstacle avoidance is a major hurdle when implementing mobile robots and swarm robots. Swarm robots work in groups and therefore require an efficient and functional obstacle avoidance algorithm to stay collision free between themselves and their surroundings. This paper reviews previous research in obstacle avoidance implementation using the force field method (FFM), also known as potential field method (PFM). Moreover, this paper aims to execute simulations using a modified and simplified force field algorithm. The obtained results are analysed to identify the performance characteristics and the time taken to perform tasks using a singular mobile robot against a swarm robot environment consisting of four and ten robots, respectively. Simulations showed that the algorithm was successful in navigating obstacles for both single and swarm robot environments. A single robot was found to take up to 340% longer to arrive at the required location compared to the first robot in the experiment.

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A2 - Patel, Kanubhai K.

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ER -

Balasubramanian G, Muthukumaraswamy SA , Kong X. On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics. In Patel KK, Garg D, Patel A, Lingras P, editors, Soft Computing and its Engineering Applications: icSoftComp 2020. Springer. 2021. p. 111-122. (Communications in Computer and Information Science). Epub 2021 Mar 5. doi: 10.1007/978-981-16-0708-0_10

On the Performance Analyses of a Modified Force Field Algorithm for Obstacle Avoidance in Swarm Robotics

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Keywords

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