The Real-Time Applying for the Multi-Agent Mobile Robot based on a Client-Server Model | ||
| IRAQI JOURNAL OF COMPUTERS, COMMUNICATIONS, CONTROL AND SYSTEMS ENGINEERING | ||
| Articles in Press, Accepted Manuscript, Available Online from 08 April 2023 | ||
| Document Type: Research Paper | ||
| Author | ||
| ammar abdulameer rasheed* | ||
| Computer Engineering Department, University of Technology –Iraq, Baghdad – Iraq | ||
| Abstract | ||
| A client-server network is one of the most important topics in a computer network. In this work, a real-time computer control system is designed based on the Client-Server Model for a Multi-Agent Mobile Robot System (CSM-MAMRS) and is applied to a building that consists of (N) floors and uses one mobile robot on each floor that has specific actions in different types of environments. The new proposed CSM-MAMRS consists of four layers. The first layer manages the network communication for each agent. The second layer solves the major problems of path planning by using a proposed hybrid algorithm that combines the Rapidly Exploring Random Tree Star (RRT*) and the Particle Swarm Optimization (PSO) algorithms. In the third layer, a velocity planner controller is based on an inverse kinematic mobile robot model. In the fourth layer, the Hypertext Transfer Protocol (HTTP) is used to send velocity values to real mobile robots via the Wireless Network Control Administration. The simple results and experimental works are successfully achieved in real-time when using three missions of three mobile robots on different static map floors in the building. In addition, each mobile robot's real-time tracking pose error is less than 2.9417 cm along the maximum distance of 250 cm. | ||
| Keywords | ||
| Real-time computer control,,; ,،,؛Mobile robot,,; ,،,؛Multi-agent system,,; ,،,؛Path planning algorithms | ||
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