Multi-Turtlebot Intersection

A project of the Robotics 2020 class of the School of Information Science and Technology (SIST) of ShanghaiTech University. Course Instructor: Prof. Sören Schwertfeger.

Liu Wenji, Sun Yiran

Abstract 

In the field of mobile robotics, the research of multi-robot systems has grown significantly in recent years. Here we use several Turtle bots to implement the multi-robot coordination task. We build 4 Turtle bots, and focus on multi-robot coordination which involve the localization and navigation of Turtle bots. Non-holonomic optimal reciprocal collision avoidance (NH-ORCA)  will be implemented for navigation. A series of multi-robot coordination results and system evaluation methods are given at the end of the paper. 

Introduction 

Multi-robot systems are an important part of robotics research. Having made great progress in the development of the basic problems concerning single-robot control, many researchers shifted their focus to the study of multi-robot coordination. Most of today’s robots fall into one of three primary categories, namely manipulators, mobile robots and humanoid robots. This paper focuses on multiple mobile robot systems (MMRSs), in which robots should work together to accomplish a given task by moving around in the environment. 

Here we want to build a multi-robot system, which use local WIFI to communicates with each other and our goal is to complete some path-following tasks. We focus on multi-robot coordination which involve the localization and navigation of Turtle bots. Additionally The total system consists of 4 turtle bots and corresponding tracking system.Besides the construction of the multi-robot system, we decide to test the NH-ORCA algorithm.

Experiment

Four robots A,B,C,D will try to exchange their positions.In figure a, they started to move. See the video: