K-Omega / A-Star Multi robot follow the leader (implemented in Sim and NXT)

Resource bounding pathfinding method (KOmega) implemented using A Star Algorithm for multiple agents

Description

To perform A Star path, goto to Main.m and set k=1, b=inf and n=0;

Please read main.m

TO RUN SINGLE ROBOT SIMULATION
   1. Set Architecutre=1 and press F5
TO RUN MULTI ROBOT
   1. Open Matlab and navigate to director with all the code
   2. Open main.m and set architecture to 2 and save
   3. Run main.m and you will be asked robot id, enter 1 and press
        ok. Follow instructions untill waiting for other robots.
   4. Open another instance of matlab and navigate to directory with
        code.
   5. Run main.m in that matlab and enter robot id 2.
   6. Now you should be able to observe the figure in matlab intance
        1. You can try various differnt configuration after that.

Acknowledgements

The author wishes to acknowledge the following in the creation of this submission:
A Star implemented in Matlab

• MATLAB release: MATLAB 7.5 (R2007b)
• Other requirements: If you want to use the Lego NXT feature (not necessary). You will need to set that up.

[Saurabh Bajpai]

 

[Mr Smart]