Remote Control of Swarm Mobile Robots

Abstract

This paper presents both remote control of the swarm mobile robots and real time simulation of their motion. The orientation of the robots is able to be controlled remotely by one user during the collective motion. The orientation data from the remote controller to the robots is transmitted by using XBee S1 modules. The pair-wise interactions between the robots were proposed based on three rules namely attraction, parallel orientation and repulsion fields. The simulation code works as a real-time simulation. The code uses the data received from the robots to simulate the motion of the robots. The simulation also saves the all the received data from the robots to one Excel file. Two parameters, polarization and expanse were calculated in order to observe and characterize the motion of the swarm robots by using the saved data.