Obstacle Avoidance of Multi Agent System using Swarm Autobots
Swarm Auto-bots are having an unprecedented positive impact on our personal social and business operations. Swarm Auto-bots is a field in which large numbers of robots are coordinated to perform the desired task. The nature of individual Auto-bots is either heterogeneous or homogenous robots. A
2025-06-28 16:28:41 - Adil Khan
Obstacle Avoidance of Multi Agent System using Swarm Autobots
Project Area of Specialization RoboticsProject SummarySwarm Auto-bots are having an unprecedented positive impact on our personal social and business operations. Swarm Auto-bots is a field in which large numbers of robots are coordinated to perform the desired task. The nature of individual Auto-bots is either heterogeneous or homogenous robots. A significant portion of the research is seen
to be interested in mobile Auto-bots. The main aim is to fabricate and develop an autonomous and intelligent system to perform swarming with synchronization and continuous communication. It is a system in which the moving Auto-bots perform swarming; avoiding obstacles and collisions among themselves by controlling parameters like stability and synchronization. The prototype comprises two unmanned ground vehicles (UGVs). These UGVs form swarm. The swarm Auto-bots are comprised of one Master the decision-making Auto-bot and the other is Slave who acts accordingly to the alpha node in a synchronized manner. The UGVs are designed and fabricated on the same computational power to enhance ability and modification according to application. The communication channel is Wi-Fi in a range of 220 meters, yet a well-secured Master only communicates to the unique MAC address of the Slave and can handle 250 bytes of data up to 20 beta nodes if attached.
The following are the Objective of our proposed system:
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Designing of the Auto-bots robotic vehicles.
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Intercommunication, communication, coordination between auto-bots for networked control consensus.
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The global goal is to set Obstacle avoidance as an application.
- Controller ESP32 Extended Version Installation After assembling the chassis the next step is to install the ESP32 extended version controller. This controller has been installed with the help of a breadboard and each pin of this controller is used by all other components that we are using and connected to it through wiring. Wiring is done through jumper wires. Each pin of ESP32 is specified for a specific component. We are using this extended version of it because we need more pins to use. Arduino IDE compiler is used for it with ESP32 libraries installed.
- Motors Installation After assembling the chassis the next step that comes is to control the motors. These motors operate on a 5.5A current and 12V DC. Their no-load speed is 350rpm. For controlling the motors we have to control its PITCH and YAW.
- Ultrasonic Sensor(HCSR04) We have implemented an Ultrasonic sensor in front of our nodes. This sensor is a distance measuring sensor and here we are using it for obstacle avoidance. An ultrasonic sensor works by sending sound waves and detecting how far the object is. It calculates the distance by measuring time lapses between sending and receiving of an ultrasonic pulse to a target. And here it is taking data at a distance of 20cm.
- Lipo-Battery (2200mah) Installation Lipo battery is installed in every node to provide current and it gives a total of 4A current. As all the components that are present in each node need some current and voltage like motors to need 2A current ESP 32 needs 27-44mA, Ultrasonic sensor needs 15mA, Long-range sharp IR needs 33mA and Flame sensor needs 1.0 microamps of current.
- Autobots Swarm: Keeping in view our all objectives which are Synchronization, Coordination, and Communication we have synchronized each node with each other and done the communication between them. Data is sent from one node controller to another node’s controller without any delay. For this purpose, we have to design these swarm Autobots.
- Block Diagram
This project scope is application-based subject to obstacle avoidance. Consequently, the following are the benefits of the current scenario:
- Swarm Auto-bots will have an unprecedented positive impact on our society.
- Human dependency will be minimized.
- Networked control Swarm-Bots communication for commercialized in future industry.
The final deliverable will include the following:
- In the end, we have 3 Auto-bots.
- All Autobots are working on a master-slave configuration and they all are autonomous.
- If master Autobots have some problem other Autobot working on an autonomous principle become masters and perform a specific task.
| Item Name | Type | No. of Units | Per Unit Cost (in Rs) | Total (in Rs) |
|---|---|---|---|---|
| Total in (Rs) | 57150 | |||
| ESP 32 Micro controller | Equipment | 6 | 1700 | 10200 |
| 4wd Smart Robot Chassis | Equipment | 4 | 2000 | 8000 |
| LIPO Battery 2200mah | Equipment | 4 | 3300 | 13200 |
| T Connector for LIPO Battery | Equipment | 4 | 50 | 200 |
| Motor Driver L298N | Equipment | 8 | 200 | 1600 |
| Data Cable | Equipment | 4 | 400 | 1600 |
| Male to Male Wires | Equipment | 200 | 3 | 600 |
| Female to Female Wires | Equipment | 200 | 3 | 600 |
| LIPO Battery Balance Charger | Equipment | 1 | 5000 | 5000 |
| Reserve DC Gear Motor | Equipment | 9 | 150 | 1350 |
| Ultrosonic sensor | Equipment | 16 | 250 | 4000 |
| 3 Mini Breadboard | Equipment | 4 | 200 | 800 |
| Other Expenses | Miscellaneous | 1 | 10000 | 10000 |