A current trend in robotics is fusing different types of sensors having different characteristics to improve the performance of a\nrobot system and also benefit from the reduced cost of sensors. One type of robot that requires sensor fusion for its application\nis the service robot. To achieve better performance, several service robots are preferred to work together, and, hence, this paper\nconcentrates on swarm service robots. Swarm service mobile robots operating within a fixed area need to cope with dynamic\nchanges in the environment, and they must also be capable of avoiding dynamic and static obstacles. This study applies sensor\nfusion and swarm concept for service mobile robots in human services and rehabilitation environment. The swarm robots follow\nthe humanmoving trajectory to provide support to humanmoving and performseveral tasks required in their living environment.\nThis study applies a reference control and proportional-integral (PI) control for the obstacle avoidance function. Various computer\nsimulations are performed to verify the effectiveness of the proposed method.
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