EngLib USM > Ω School of Electrical & Electronic Engineering >

Path Formation using BATMAN in robot swarms / Mohd Ajmal Bin Bakri

Path Formation using BATMAN in robot swarms_Mohd Ajmal Bin Bakri_E3_2010_875003551_00003084241_NI

Abstract Sekumpulan robot merupakan bidang robotik yang popular yang menumpukan pengawalan robot dalam bilangan yang banyak. Di dalam tesis ini saya mempersembahkan pembentukan laluan di dalam sekumpulan robot dan menggunakan kaedah B.A.T.M.A.N iaitu kaedah yang lebih baik dalam bidang Rangkaian Bergerak Ad Hoc. Objektif projek ini adalah untuk membentuk simulasi pembentukan laluan oleh banyak agen di dalam suatu arena. Pada masa yang sama, kaedah B.A.T.M.A.N dilaksanakan untuk komunikasi antara agen-agen tersebut. Dua pembolehubah dikaji di dalam projek ini iaitu bilangan agen dan jarak penglihatan agen terhadap kecekapan proses pembentukan laluan tersebut. Bahagian yang agak sukar ialah menghasilkan agen yang dapat menyambung laluan antara dua tempat tujuan sambil bergerak secara rawak di dalam arena tersebut. Langkah pertama ialah mempelajari topik yang berkaitan iaitu pembentukan laluan di dalam sekumpulan robot dan juga mengenai rangkaian Ad Hoc. Langkah seterusnya ialah mengaplikasikan teori dan kaedah tersebut ke dalam simulasi menggunakan perisian yang dikenali sebagai NetLogo 4.0.4. Walaubagaimanapun, sebelum membina rekabentuk model tersebut, arahan-arahan dan antaramuka asas perisian tersebut perlu dipelajari. Keputusan projek ini telah membuktikan hipotesis. Pembentukan laluan dapat dihasilkan dengan betul dan pembolehubah yang memberi kesan kepada kecekapan pembentukan laluan dapat dibuktikan. _________________________________________________________________________________ Swarm robotics is a popular field in robotic intelligence that focuses on controlling large number of multi-agent system. In this thesis I present the path formation in robot swarms and with B.A.T.M.A.N approach which is the improvement and better approach of Mobile Ad Hoc Networking. The objective is to create a simulation of path formation by multiple agents in an arena. And at the same time to apply the B.A.T.M.A.N approach in terms of their communications among the agents. Two parameters are tested in this project. They are the number of agents and their sensing range with respect to the efficiency of path formation. The hardest part is to make the agents connect a path from one point to another point while moving randomly in the arena. The first step is to study relevant topics regarding the path formation in robot swarms and also about the Ad Hoc Networking. The next step is to apply those theory and approach into a simulation in a software called NetLogo 4.0.4. However, before actually constructing the model design, the basic command and interface of the software must be learned. The outcome of this project has proven the hypothesis. The path formation is correctly done and the parameters that are affecting the efficiency of path formation are proven.

Contributor(s): Mohd Ajmal Bakri - Author Primary Item Type: Final Year Project Identifiers: Accession Number : 875003551 Barcode : 00003084241 Language: English Subject Keywords: Swarm robotics is a popular field in robotic intelligence that focuses on controlling large number of multi-agent system; path formation in robot swarms and with B.A.T.M.A.N approach which is the improvement and better approach of Mobile Ad Hoc Networking; theory and approach into a simulation in a software called NetLogo 4.0.4. First presented to the public: 4/1/2010 Original Publication Date: 3/19/2018 Previously Published By: Universiti Sains Malaysia Place Of Publication: School of Electrical & Electronic Engineering Citation: Extents: Number of Pages - 56 License Grantor / Date Granted:   / ( View License ) Date Deposited 2018-03-19 16:48:11.918 Date Last Updated 2019-01-07 11:24:32.9118 Submitter: Nor Hayati Ismail

All Versions

• Help | 
• About | 
• Privacy Policy