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Chhatrapati Shivaji Institute of Technology, Durg: Minor Project Synopsis

The document describes a minor project on an object sorting robot based on color without a conveyor. The robot will use limited local perception to sort objects of two classes into clusters without prior information on object positions or numbers. Inspired by ant brood sorting behavior, the robot will rearrange scattered colored objects into clusters in an arena based only on local sensing, with no centralized control or global communication. The goal is to develop a scalable, flexible and robust sorting system for situations where robots have very limited capabilities.

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Chitra Oberoy
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66 views3 pages

Chhatrapati Shivaji Institute of Technology, Durg: Minor Project Synopsis

The document describes a minor project on an object sorting robot based on color without a conveyor. The robot will use limited local perception to sort objects of two classes into clusters without prior information on object positions or numbers. Inspired by ant brood sorting behavior, the robot will rearrange scattered colored objects into clusters in an arena based only on local sensing, with no centralized control or global communication. The goal is to develop a scalable, flexible and robust sorting system for situations where robots have very limited capabilities.

Uploaded by

Chitra Oberoy
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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7/31/2012 Electronics And Telecommunication Branch

SYNOPSIS
GROUP NO: 4.

PROJECT TITLE:
OBJECT SORTING ROBOT BASED ON COLOUR WITHOUT CONVEYOR.

PROJECT GROUP MEMBER:


1) ANAMIKA BANWARI. 2) DEEPMALA SINGH. 3) LEENA DONGRE.

PROJECT GUIDE:
MR. MANGAL SINGH.

PROJECT DESCRIPTION: Object sorting robot inspired by the collective behavior of the social insects are truly distributed, self-organized, and scalable as there is no centralized control or global communication. Such a system is appealing due to its scalability, flexibility, and robustness. Inspired by the brood sorting behavior of ant , we investigated the problem of sorting objects of two classes by a robot. The robot have only limited perception of the local environment and have no a priori information about the distribution or number of the objects to be sorted in the environment. Such a system is useful when robot is to perform tasks at the micro-scale or the nano-scale where they can only have very limited sensing, computing, and actuation capabilities. Therefore, sorting tasks become very challenging in such a context.

We consider sorting of objects in the context of a robot system. That is, a robot rearrange scattered objects of different classes into clusters in a working arena. If the robot knew the positions of all the objects and those of the final clusters of the sorted objects, then it would be trivial to arrive at a solution to the collective sorting problem: the robot could simply search for the objects and carry them to the designated locations. This solution is suitable for the task environment, which is known to robot in advance. However, not all position information is available to robot when it perform tasks. Instead, we assume robot do not have global information such as the position of the objects/clusters and the number of the objects to be sorted. To achieve solution scalability and robustness, we choose not to introduce explicit communication . Our robot have very limited local sensation and action capabilities.

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