ROBOFEST - GUJARAT 2.0

MICROBOTS CATEGORY- Swarm Robots

List of Hardware/Components/Equipment (Electrical)

Arduino Nano 33 BLE Sense® (x3):
Microcontroller board with integrated Bluetooth Low Energy (BLE) capabilities and onboard sensors, ideal for sensing and communication tasks.
Arduino Nano 33 BLE (x3):
Microcontroller board with BLE functionality for seamless wireless communication and control.
Lithium Polymer (Li-Po) Battery (3.7V, 800mAh):
Compact and lightweight power source for efficient energy delivery to microcontrollers and motors.
Li-Ion Battery Charge/Discharge Protection Module:
Ensures safe charging and discharging of Li-Po batteries, protecting against overcharging, over-discharging, and short circuits.
GA12-N20-3V 250 RPM All-Metal Gear Micro DC Encoder Motor with Precious Metal Brush:
High-precision motor with an integrated encoder for accurate speed and position control, ensuring reliable locomotion.

Concept Description

The project involves the design and implementation of a system of six microbots, comprising one master bot and five slave bots, constructed from lightweight wood and acrylic materials. These microbots are designed to collaborate and execute tasks with precision through advanced communication and control mechanisms.

Communication and Command Flow

Master-Slave Architecture: The master bot serves as the central command unit, while the slave bots execute instructions under its guidance.
Bluetooth Communication: The system relies on the Bluetooth module of the Arduino Nano 33 IoT for wireless communication. Commands are sent from a mobile application to the master bot, which then relays instructions to the slave bots.
Dedicated Channels: Slave bots exclusively communicate with the master bot, ensuring efficient and hierarchical command propagation.

Locomotion and Control

Two-Wheel Drive: Each microbot is equipped with two wheels, controlled via a motor driver connected to an ARM-based microcontroller, providing precise movement and maneuverability.
Positional Feedback:
- Encoders and IMU sensors track movement and orientation.
- Bluetooth Signal Strength (RSSI) aids in determining relative positions.
Error Correction: The master bot compares actual and calculated positions. If discrepancies are detected, it calculates corrections and transmits updated coordinates to the relevant slave bot for realignment.

Task Assignment and Execution

Centralized Task Management: Tasks are issued exclusively to the master bot, which interprets them and generates actionable commands for the slave bots.
System Activation: The system is activated via a mobile app, triggering all microbots to align and prepare for the assigned task.
Linear Movement Algorithm:
- Upon activation, the microbots align in a straight formation.
- They collectively move 100 meters in the specified direction, following the master algorithm.

Feedback and Monitoring

The master bot continuously monitors task progress and relays completion feedback to the mobile application.
During the prototype phase, the system assumes an initial linear alignment of all microbots, simplifying deployment and task execution.

This innovative system demonstrates the potential of centralized coordination and feedback-driven adjustments, paving the way for scalable multi-robot collaboration in real-world applications.

Process Flow:

Future Work

Advanced Path Planning and Coordination:
Develop and integrate more sophisticated algorithms to enable seamless coordination among an increased number of bots, ensuring efficient and simultaneous motion.
Enhanced Positional Accuracy and Obstacle Avoidance:
Implement advanced techniques to improve the precision of distance calculations between bots during runtime and incorporate robust obstacle avoidance mechanisms for dynamic environments.
Extended Communication Range and Orientation Control:
Expand the communication range between bots to facilitate larger formations while enabling precise motion control with specific orientations for complex maneuvers.
Compact and Efficient PCB Design:
Transition from modular circuits to custom-designed compact and lightweight printed circuit boards (PCBs) for enhanced operational efficiency and space optimization.
Automated Alignment Process:
Automate the initial alignment of bots from random configurations into a desired formation, reducing manual intervention and setup time.
Scalable System with Increased Slave Bots:
Scale the system by increasing the number of slave bots to enhance the fidelity and complexity of the shapes formed during tasks.
3D-Printed Chassis for Optimized Design:
Replace existing materials with custom 3D-printed chassis to achieve higher design accuracy, reduced weight, and improved structural integrity.

These enhancements will significantly improve the scalability, efficiency, and versatility of the multi-bot system, paving the way for broader applications in collaborative robotics.

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