Multi-robot Navigation in Cluttered Environments

2019/10 - 2019/12

We implemented potential field algorithm for obstacle avoidance, flocking, and optimized the robot’s behaviour with PSO.

The control of multi-robot navigation can be a challenge in real world. We implemented and optimized our strategy in two cluttered and dynamic environment. Finally, the algorithm is transferred into real e-puck robots and its performance justify the effectiveness of our design choice.

Keywords: Simulation, Webots, Multi-robot, Reinforcement Learning, PSO, Obstacle Avoidance
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