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Multi-robot movement based on a new modified source-seeking algorithm

Published online by Cambridge University Press:  31 January 2025

Morsy A. Morsy Open the ORCID record for Morsy A. Morsy [Opens in a new window] ,
Humaid Eqab Al-Otaibi ,
Yasser Bin Salamah Open the ORCID record for Yasser Bin Salamah [Opens in a new window]  and
Irfan Ahmad
Morsy A. Morsy*
Affiliation:
Department of Electrical Engineering, Shaqra University, Ar. Riyadh, Saudi Arabia Department of Electronics and Communication Engineering, Ain Shams University, Cairo, Egypt
Humaid Eqab Al-Otaibi
Affiliation:
Department of Electrical Engineering, King Saud University, Ar. Riyadh, Saudi Arabia
Yasser Bin Salamah
Affiliation:
Department of Electrical Engineering, King Saud University, Ar. Riyadh, Saudi Arabia
Irfan Ahmad
Affiliation:
Department of Electrical Engineering, King Saud University, Ar. Riyadh, Saudi Arabia
*
Corresponding author: Morsy A. Morsy; Email: morsy_ismail@su.edu.sa
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Abstract

The two main sources of difficulty for a group of mobile robots employing sensors to find a source are robot collisions and wireless ambient noise, such as light, sound, and other sounds. This paper introduces a novel approach to multi-robot system cooperation and collision avoidance: the new modified source-seeking control with noise cancelation technology. The robot team works together on an incline of a light source field; the team’s mobility is dependent upon following the upward gradient’s direction and forming a particular movement pattern. The proposed program also takes into account each robot’s size, speed limit, obstacles, and noise. The noise cancelation technique has been used to avoid the delay and false decisions to find the target point of the source. When the noise is canceled, all control inputs to the algorithm are accurate, and the feedback decision will be true. In this study, we use the MATLAB simulation tools to test the velocity, position, time delay, and performance of each robot in the used group of robots. The simulation and practical results of the robots in searching for a light source showed very satisfactory performance compared with the results in the literature.

Keywords

multi-robot systemcooperative controlcollision avoidancesource-seeking algorithmnoise cancelationperformance enhancement

Information

Type
Research Article
Information
Robotica , Volume 43 , Issue 3 , March 2025 , pp. 945 - 958
Copyright
© The Author(s), 2025. Published by Cambridge University Press

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