Abstract
The Practical Swarm Optimization (PSO) algorithms are required behavioral control to perform successful navigation. The role of communication with behavioral control is an important issue in swarm robotics. This paper presents how the leader and follower robots can change their mode of behavioral control by switching between centralization and decentralization processing methods with a new approach using implicit communication. The target of the robots is to reach the goal point, which is placed with IR beacon. The robots can avoid obstacles with the help of IR sensors (1 meter range) and communicates with RF Transceivers (2.4GHz).If there is no obstacle in between leader and follower, then follower continues to follow the leader as per centralization behavior mode. In this process if obstacle arrives between the leader and follower, it can avoid with IR sensor's information. When both of them are away from original path, then they are decentralized and plan to reach the goal individually. The customized prototype Robots are developed with Arduino Uno ATMEGA328P which is used as the control unit for both leader and follower with a transceiver pair of NRF24L01 (2.4 GHz) to achieve inter - swarm communication. The proposed algorithm is implemented in our laboratory and this design is pragmatic in industrial and medical fields. IndexTerms: centralization, decentralization, obstacle avoidance, swarm robotics
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