Coordination control of behavior based distributed networked robotic systems: a state modeling approach

The coordinated motion of group of autonomous mobile robots for the achievement of goal has been of high interest since the last decade. Previous research works have revealed that one of the essential problems in the area is to plan, navigate and coordinate the motion of robots, avoiding obstacles as well as each other while still achieving the goal. In this paper, Behavior Based approach for the control of distributed networked robotic system, concentrated towards the navigation, planning and coordination between them in unknown complex environment is addressed. A layered behavior based control architecture, with the basic behaviors of Message passing, Obstacle avoidance, Safe wandering and Pit sensing have been designed and assigned to the individual robotic systems to form a navigation algorithm. Validation of this guidance algorithm is carried out through simulations using SIMULINK/State flow.