Implementation consensus algorithm and leader-follower of multi-robot system formation

• Published in: Sinergi (Fakultas Teknologi Industri Univeritas Mercu Buana. Vol. 27; no. 1; pp. 45 - 56
• Main Authors: Lilansa, Noval, Rizal, Muhammad Nursyam, Anggraeni, Pipit, Ramadhan, Nur Jamiludin
• Format: Journal Article
• Language: English
• Published: Universitas Mercu Buana 2023
• Subjects: autonomous mobile robot; consensus; leader-follower; ros
• ISSN: 1410-2331; 2460-1217
• DOI: 10.22441/sinergi.2023.1.006

Robot technology has recently been applied to many applications to help human activities. Mobile Robot is one of the most flexible robot technology. This research uses a mobile robot designed using an omnidirectional wheel for the movement mechanism. Coordination and control of multi-robots can be assigned to perform any task from a different kind of field. Therefore, this paper aims to develop a multi-robot system to form a formation to do the task. The multi-robot system consists of three units Mobile Robot. The formation system will be built based on a coordinate point determined by a consensus point. The leader-follower topology is used to determine the orientation of the robot. ROS (Robot Operating System) is used as middleware to create a multi-robot system. The Open Base package in Gazebo Simulator is also used to simulate the movement of the multi-robot. From three test scenarios, this research results show that all the robots can do and follow the tasks simulated in the Gazebo with an average accuracy of 88.14%. Furthermore, no feedback from the robot to the Gazebo Simulator affects the robot's accuracy average below 90%.