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

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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 languageEnglish
Title of host publicationSoft Computing and its Engineering Applications
Subtitle of host publicationicSoftComp 2020
EditorsKanubhai K. Patel, Deepak Garg, Atul Patel, Pawan Lingras
PublisherSpringer
Pages111-122
Number of pages12
ISBN (Electronic)9789811607080
ISBN (Print)9789811607073
DOIs
Publication statusPublished - 2021
Event2nd International Conference on Soft Computing and its Engineering Applications 2020 - Virtual, Online
Duration: 11 Dec 202012 Dec 2020

Publication series

NameCommunications in Computer and Information Science
Volume1374
ISSN (Print)1865-0929
ISSN (Electronic)1865-0937

Conference

Conference2nd International Conference on Soft Computing and its Engineering Applications 2020
Abbreviated titleicSoftComp 2020
CityVirtual, Online
Period11/12/2012/12/20

Keywords

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

ASJC Scopus subject areas

  • Computer Science(all)
  • Mathematics(all)

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