Swarm Robots for Autonomous Thrash and Garbage Removal

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SIMULATIONS & TESTINGSimulation of the robotic arm gripper1. The six images showingthe proper orientation ofthe arm till the capturestage sequentially in arendered CAD simulation2. The two images showingthe two modes of therobotic palm3. The robotic arm in action
Testing of the vision and navigation algorithmsThe robustness and effectiveness of the vision based algorithms was testedsuccessfully. A single robot naviagated the entire grid with user definedobstacles successfully.A single wired robot executing the navigation algorithm during the initial testing phase.Red dots represent obstacles and blue dots represent the explored part of the maze.The wireless and the vision algorithms were tested using “Follow the leader” astandard algorithm in swarm robotics. Two different robots were used in thealgorithm. One was manually controlled wirelessly (“Trapezium”). The other(“Hexagon”) was made to follow it autonomously using real time feedbackcontrol from the camera and serial wireless communication to the robot. Somescreenshots from the actual video made during testing:
Page 1 and 2: Report for Shamsher Prakash Foundat
Page 3 and 4: Table of Contents1. Abstract2. Intr
Page 5 and 6: IntroductionSwarm robotics is the s
Page 7 and 8: MECHANICAL PLATFORMRobot DesignRend
Page 9 and 10: ELECTRONIC HARDWAREThe electrical s
Page 11 and 12: function calls. This complex functi
Page 13 and 14: • Frames are continuously acquire
Page 18 and 19: The Modular Design ConceptOur empha
Page 20: Conclusion and Further EndeavourMul

Swarm Robots for Autonomous Thrash and Garbage Removal

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