Bachelor Thesis: Coordination of worker groups into robotic foraging behavior

Alexander Luger
Supervisor: Thomas Schmickl

Publication:

Description:

In my bachelor thesis I envolved two simulations to test the navigation (wall-following) and orientation of e-pucks in an area. For my first simulation I used the software NetLogo to accomplish my goal.


The breadboard above was modeled with NetLogo and shows the general parts of this setup. Turtles (robots) are able to navigate to two different resource spots, depending on their decision made at the very beginning of the simulation. Furthermore they orientate themself to a light source, which is placed at the right corner of the setup. The goal of an turtle is to navigate to a resource spot, accomplish an action and find his way back to the nest (green part of the setup).

Because of the missing physics engine when using NetLogo, we are not very close to reality with this simulation. Therefore, the development environment Webots was used to implement the setup of the NetLogo simulation. Programming language used in Webots was C.

The breadbord above was modeled with Webots. When implementing the wall-following-algorithm, several problems occured. One for example was the perspective of the e-puck camera. The camera can only generate a picture of the ground in front of the e-puck. Consequent, the e-puck does not have any information of the ground he is placed at. This fact hampers the successful navigation to a resource spot.