Khepera robots applied to highway autonomous mobiles

Abstract

This article presents simulation models of autonomous Khepera robots which are assumed to be running on a highway. Each robot acts by following the fish-school algorithm. Although a school of fish does not need a special individual to lead it, an autonomous movement emerges from interactions among neighboring bodies. Our goal is multirobots which behave safely, with no accidents, solely through interactions with their surroundings. When Khepera robots run freely while sensing neighboring robots or the guard rails along the road by means of an infrared ray, the efficiency of their running, such as the distance covered and the number of accidents, is obtained with an evaluation function. Genetic algorithms (GA) with this evaluation function are applied to both the optimization of the discernible region, and the development of driving-type. As a result of optimization of the behavior models of a robot, multirobots could run smoothly while avoiding collisions with other robots or with guard rails, and yet run as fast as possible. The present study of autonomous multirobots approaches the realization of the autonomous control of vehicles running on a highway.

Uniform distribution of mobile agents using genetic algorithms for military applications in MANETs

“…In [10], a genetic approach is presented with a distance-safety criteria for a mobile robot motion. In [11], the goal of autonomous robots is to move to a highway and to reach their destination without collision with other robots. An adaptive GA is proposed in [12] to identify targets while avoiding obstacles.…”

Real‐time, decentralized and bio‐inspired topology control for holonomic autonomous vehicles

“…Bio‐inspired algorithms are shown to be effective in path planning for robotic applications, optimizing the path a robot takes to reach its assigned target in Garro et al (2006). Shinchi et al (2003) proposes an adaptive GA to identify targets while avoiding obstacles. Mobile robots are used with ultrasonic sensors to collect range‐limited data from the environment (Moreno et al , 2002).…”