Swarm Robots for Autonomous Thrash and Garbage Removal

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The Modular Design ConceptOur emphasis in this project has been on the application of swarm robotics to awide variety of fields. By integrating various modules with our current basicdesign we can use the collective swarm behaviour to solve a number ofproblems as the basic navigation algorithm using image processing remainssame. For example, instead of grippers we can have a vacuum suction onboardeach robot with cleans the surface as it scans the whole region. The gripperscan be disintegrated and the vacuum suction along with its circuitry can bemounted on the robot. This solution can also be used to search a particularobject in hostile terrain or maybe even water. Since we cannot have an overheadcamera in these situations, an onboard Global Positioning System (GPS) can beused to track the real time coordinates of the robots. Using their synchronizedsearch procedure and having a sufficiently large number of robots the terraincan be scanned in a very short time with desirable results. The locomotiondesign has also been kept modular. The basic motors remain the same. Using anumber of motors which only replicate the behaviour of the original twomotors, we can use any sort of locomotion technique. It may be a hexapod,continuous tracks or motorized paddles in case of water. The basic wheels canbe detached and the desired type of movement can be achieved by usingappropriate wheels. The algorithms remain the same and complex cases can behandled by adding more functions to the existing program. The functions can bein the form of noise filtering, obstacle detection or modified cases oflocomotion.The continuous track module
The GPS moduleThe vacuum suction pumpAll Terrain wheelLift arm assembly for heavier loads
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 16 and 17: SIMULATIONS & TESTINGSimulation of
Page 20: Conclusion and Further EndeavourMul

Swarm Robots for Autonomous Thrash and Garbage Removal

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