Path planning and tracking for swarm robots in variable environments

In this study, the robot reaches the desired coordinate system, path planning and coordinated tracking of this planned path by single and multiple robots are provided. A* algorithm is used to find the shortest distance on the planned path. Pure Pursuit algorithm is used to determine the path tracking and orientation. The Pursuit algorithm ensures that the robot(s) move towards the target, optimises their interaction with each other and provides real-time adaptation by identifying environmental obstacles and moving objects. The robots calculate the path following according to the lowest cost. This algorithm provides a safer interaction between the robot(s) as well as a shorter path planning. Dynamic obstacles and moving objects are taken into account so that the robot(s) can continuously re-plan the path. This allows the robots to quickly adapt to changes in their environment. In multi-robot control, by applying the leader-follower approach, one robot (leader) moves towards the target while the other robots (followers) move towards the target by following the leader robot. In the obstacle environment, the robot(s) follow the shortest path while avoiding the obstacles in the environment. The Gazebo simulation environment used in the study provides an ideal platform for testing the effectiveness of algorithms and control methods by simulating real-world conditions. In addition, Turtlebot3 robots were used in the simulation to evaluate the robots' interactions with environmental obstacles and the performance achieved in multi-robot coordination.