In this page, we present the simulation of move-and-improve using the Webots simulator. Webots is a professional mobile robot simulator that provides the possibility to create a 3D virtual worlds that model with high accuracy the physical properties, dynamics and kinematics of the mobile robots and the objects surrounding the environment.
In Webots, a simulation model consists in defining the virtual physical worlds, the robots, and the controllers of the robots that implement their behavior. In our simulation model, we used a realistic model of the Pioneer 3AT robot. It has four wheels and is equipped with 16 sonar distance sensors.
We have developed two types of controllers in Webots in the C++ language. The first is a robot controller that determines the operations of a robot and implements the Move-and-Improve algorithm. The second is a supervisor controller, which is responsible for generating targets, sending them to the robots, collecting and displaying statistics, and the simulation evolution.
The following video demonstrate the simulation. video demo of move and improve
This Video show the execution of the algorithm Move and Improve Move and Improve: A Distributed Multi-Robot Coordination Approach for Multiple Depots Multiple Travelling Salesmen Problem. Communication range is low (4m).
This video show the execution of the move and improve algorithm : A Distributed Multi-Robot Coordination Approach for Multiple Depots Multiple Travelling Salesmen Problem.
In this senario communication range is 13m. It is a relatively high communication range so it will exist few overlapped targets.