Wi-Fi RSSI Based Optimal Path Planning and Collision Avoidance in A Multi Robot Environment
Gali Amoolya, Kotaru Lakshmi Lavanya, Dr.Sudheer A.P · 2019 IEEE International Conference on Intelligent Techniques in Control, Optimization and Signal Processing (INCOS) · 2019
The most notable feature about Swarm robotics is the ability of multiple robots to communicate and coordinate among themselves to accomplish the given tasks. Optimization of time and space plays a key role in such a multi robot environment. The paper proposes a priority based decentralized approach for collision avoidance optimal path planning system by monitoring the Received Signal Strength Indicator(RSSI) data of Wi-Fi signals and the readings of proximity sensors. Firebird V robots sharing the same physical workspace with static obstacles are used to implement the proposed algorithm.