Volume 7, Issue 7, July – 2022 International Journal of Innovative Science and Research Technology

ISSN No:-2456-2165

Swarm Robot Using Arduino

A. Sai Aarthi1, *, B. Devanand1, Nirmala Bai Jadala2, and Dr. U.Poorna Lakshmi3
1
B.Tech, Dept. of Electronics and Communication Engineering, Vignana Bharathi Institute of Technology, Hyderabad.
2
Asst.Professor, Dept of Electronics and Communication Engineering, Vignana Bharathi Institute of Technology, Hyderabad.
3
Professor, Dept of Electronics and Communication Engineering, Vignana Bharathi Institute of Technology, Hyderabad.

Abstract:- Swarm robotics is a way of organising huge to build a shortbridge to cross, in a recent study on the
num- bers of primarily straightforward physical robots in collective behaviour of these ants. Despite all of their
multi-robot systems. A desired collective behaviour is limitations, these social animals and insects accomplish more
thought to originate from the interplay between the robot thanks to their collectivebehaviour. Researchers have shown
and how it interacts withits surroundings. This project that members of these groups do not require sophisticated
provides applications, im- plementation information, and knowledge or represen- tation. Individuals in social insects,
utilizing various technologies, meet hardware and design mammals, and birds arenot aware of the overall health of the
requirements. In the swarm robotics problem, colony. All of the agents share in the swarm’s information, so
cooperation swarm organisation, which emerges from the that no one agent can complete their task independently of
system itself, and the urge to solve problems are referred the rest of the swarm.
to as solution capability. Decentralization is achieved by
allowing local contact between individual robots. The ability to communicate between two or more
communicating with Using the inexpensive nRF24L01 microcon- troller platforms allow us to carry out interesting
wireless transceiver module, which is made for very low projects, suchas automatic control of home appliances, in the
power consumption, robots wireless power application fieldof robotics, and game controllers, to name a few. This
Communication between two or more microcontroller com- munication can be achieved wireless or over wires.
platforms makes it possible to Our performance Among other technologies, wireless communication can be
coordination. Weemploy two nRF24L01 modules, each of conducted utilising WiFi, Bluetooth, RF, GSM/GPRS and
which contains VCC, CSN, and MOSI and IRQ pins are LoRaWAN.
inexpensive and simple to interact with. One is associated
with the transmitter, whereas another There are GND, II. LITERATURE SURVEY
CE, SCK, and MISO pins on the receiver. nRF24L01
transceiver is attached to a microcontroller. SPI A. Swarm Robot coordination
communication protocol is used by the module (which Mondada and Pettinaro introduced the idea of a group
uses master and slave concept). of autonomous mobile robots known as S-BOTs, or ”swarm-
bots.” S-BOTs may physically connect to one another
I. INTRODUCTION becauseto a unique assembling ability. SWARM-BOT, which
consistsof 10 to 30 S-BOTs networked together, is far more
Some of the best characteristics of humans include inter- durable than a single bot and is capable of handling
acting, comprehending, and then reacting to the environment. challenging jobs even in challenging environmental
These traits are what define who we are as a species. Humans circumstances. A K- neighbor restriction was suggested by
have always known that we are the most polite social Poduri and Sukhatme to maximise the area coverage of a
creaturesthat have existed on this planet since it was created mobile sensor network during self-deployment. The main goal
because we are designed from birth to live in a social society. of the strategy is to coordinate the placement of mobile
Other species of this planet, such as a group of birds, fish, or sensors using two forces: Fcover, which makes nodes reject
bees, also exhibit social behaviour and interaction with one one another in order to extend their coverage, and Fdegree,
another in order to further a common objective. This is a which makes nodes attract one another in order to have more
trait thatall of these species share with humans. When birds neighbours. When the two forces are equivalent, an anode
migrate, it’scommon to see them in groups that are headed by stabilises its position.
the leader. Despite the fact that birds have no sense of shapes
or figures, the lead member of their group directs the others, B. Self Assembly
and everyone follows them. The group is also organised so Jhang Jian Ju, et al., envisioned in order to increase the
that the older members are on the edges and the younger effectiveness of the swarm robot’s self-assembly process and
members, or the newborns, are in the middle. enable dynamic local navigation of random movement in ac-
cordance with the distance between the seed robot and
The same traits are present in fire ants, which differ dockingrobot, Jhang Jian Ju, et al. devised a self-assembly
slightly from other kinds of ants in that they establish their distributed control method. Additionally, this paper
colonies collectively and define their preys as a group. In investigated the time efficiency of morphology using line,
other words, they are aware that they can do more when they arrow, T, and star shapes.
work as a team. They were discovered to be capable of
building sturdy structures if necessary, such as when needed

IJISRT22JUL1441 www.ijisrt.com 1637

Volume 7, Issue 7, July – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
This method boosts the effectiveness of self-assembly. III. PROPOSED SYSTEM
Harish Verlekar, et al.,developed a strategy based on the
imitation of the division of labour in bees and the chain In this paper, We suggest a brand-new design known as
creation behaviour of ants was proposed by Harish Verlekar, robotswarm communication networks. Robots are
et al. Swarm robots, which are made to resemble ants, create clustered into one or more teams or swarms in this
chains while foraging and employ the division of labour to architecture, and each swarm can be monitored and managed
reduce energy waste. A computer vision-based method is by some central serversusing a wireless mesh backbone and
combined with magnetic sensor readings for localization and the Internet. A self- organizing mobile ad hoc network
navigation. Swarm robot technology provides parallelism, develops within each swarm such that all robots remain
robustness, and scalability. connected to one another despite movement. Mobile users
can also keep an eye on swarms using portable gadgets like
C. QoS support in wireless ad hoc networks computers and PDAs, and they can respond right away based
Xue and Ganz, proposed a QoS routing protocol with on the data they gather. Location, topology, and other
admission control enforced to enable quality of service relevant information might be included in the monitoring
inmulti-hop ad hoc networks is presented as Ad hoc QoS on- module. It is also suggested that images and videos be
demand routing (AQOR). ad hoc networks By taking into transmitted from robots to servers or mobile usersso that
account the competition for fall nodes inside the carrier suitable decisions can be made. From the perspectives of both
sensing area, Yang and Kravets suggested to enforce software system development and protocol design, the
admission control. To get nearby information, nevertheless, suggested architecture presents new issues.
requires highpower usage. Additionally, when estimating
bandwidth, they did not take link rate and traffic into account. On the other hand, it’s crucial for the system to be im-
It was suggested by Chen and Heinzelman to determine plemented how to create a software system to effectively
available bandwidth by local estimation and message monitor, coordinate, and operate robot swarms. Additionally,
exchange among nearby nodes. They then used the Li and the wireless mesh network backbone must offer quality of
Blake result to adjust for intra-flow interference. However, service (QoS) for robots streaming video.
even with multi-rate enabled, this resultis not precise enough.
Due to transmission ata high data rate while using a multi- IV. BLOCK DIAGRAM
rate MAC, the link’sdistance maybe significantly reduced,
increasing intra-flow interference. When making an
admission control decision, Li and Prabhakaran proposed
route available bandwidth (RAB) and route reliability (RR)
metrics to take into account both mobility, multi-rate feature,
and multi-link interference.

D. Obstacle Avoidance
Fig 1
Syed IrfanAli Meerza, et al. offered a technique to
guide a mobile robot toward a target and navigate across a
V. HARDWARE AND SOFTWARE
space without knowing anything about it beforehand. In order
to design a robot’s course, this work introduces the particle
A. ARDUINO UNO (ATMEGA 328)
swarm optimization (PSO) with dynamic obstacle avoidance
The Arduino UNO microcontroller was used in our
technique. In the Processing IDE, we simulate and test the
project. The ATmega328P-based Uno is a microcontroller
various contexts for our proposed solutions. This system’s
board. It has 14 digital input/output pins, 6 analogue inputs, a
feature is its computational simplicity, and it also uses less
16 MHz quartz crystal, a USB connection, a power jack, an
memory.
ICSP header, and a reset button. It comes with everything you
need to support the microcontroller; simply connect it to a
E. Behaviour
computer via USB or power it via an AC-to-DC adapter or
Harish Verlekar, et al developed an approach based on
battery toget started. You can tinker with your UNO without
the imitation of the division of labour in bees and the chain
fear of doing something incorrectly; in the worst-case
formingbehaviour of ants. Swarm robots, which are madeto
scenario, you can replace the chip for a few dollars and
resemble ants, create chains while foraging and employ the
restart.
division of labour to reduce energy waste. A computer vision-
based method is combined with magnetic sensor readings for
localization and navigation. We achieve parallelism, robust-
ness, and scalability by using swarm robots.

IJISRT22JUL1441 www.ijisrt.com 1638

Volume 7, Issue 7, July – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165

Fig 4:- Nrf24l01 Module

Fig 2:- Arduino UNO (Atmega 328) D. Jumper Wires
In this paper, we are using this module to demonstrate
how wireless communication between Arduino modules can
be achieved using the lowcost RF (radio frequency) based
nRF24L01+ transceiver module The first benefit of these
modules is their low price. One can be purchased for less than
2 dollars. Using the SPI protocol, nRF24L01+ modules can
be easily interfaced to a wide range of microcontrollers
Fig 5:- Push Button
including MCU, ARM, PIC, AVR, and STM32. When
compared tolower operating frequencies, 2.4GHz allows for
1.9 to 3.6V is the range of operating module of this
higher bit rateusages. The Nrf24L01+ module transmits data
module and the logical pins being 5V tolerant. So, Logic level
using GFSK modulation, so the data transfer rate can be
conversion is not required to connect it to any 5V logic
250kbps, 1Mbps, or2Mbps. The operating voltage for these
microcontroller. The module upholds programmable result
modules ranges from 1.9 to 3.6V, but the logic pins are 5V
power viz. 0 dBm, - 6 dBm, - 12 dBm or - 18 dBm and
tolerant, so they canbe easily connected to any 5V logic
consumes unimaginably around 12 mA during transmission
microcontroller without the use of a logic level converter.
at 0 dBm, which is even lower than an LED. What’s more,
During transmission, the power consumption is
the best part is that it consumes 26 µA in backup mode and
approximately 12mA, which is even lower thana single LED
900 nAat shut down mode. That is the reason they’re the go-
therefore making this the best choice for wirelessdevice in
to remotegadget for low-power application. The SPI transport
low power applications. gallium phosphide, and gallium
utilizes an idea of a Master and Slave, in most normal
arsenide (GaAsP) (AlGaAs). As a result of the
applications our Arduino is the Master and the nRF24L01+
electroluminescence phenomena, LEDs
handset moduleis the Slave. Not at all like the I2C transport
the quantity of slaves on the SPI transport is restricted, on the
Arduino Uno you can utilize a limit of two SPI slaves for
example two nRF24L01+ handset module.

B. LED
A specific kind of PN junction diode is a light-emitting
diode (LED). The light-emitting diode is built of a unique
kindof semiconductor and is specifically doped. When placed
Fig 3:- LED in the ”on” position, this diode may produce forward-biased
con- dition. Indium gallium nitride with aluminium indium
Produce visible radiation when a low voltage direct gallium phosphide (AlInGaP) (InGaN) are two of the
current is applied to a suitably doped crystal containing a p-n semiconductors for LED technologies that are most
junction. Usually, elements from columns III and V of the frequently employed. employed older LED technology.
periodic tableare used for the doping. When the p-n junction Aluminum gallium arsenide, Jumper wires are just wires that
is activated by a forward biassed current (IF), it produces light have connector pins at each end, permitting them to be utilized
with a wavelength determined by the active region. to interface two points to one another without soldering.
Jumper wires are commonly utilized with breadboards and
C. Push Button other prototyping devices to make it simple to change a
It is a small switch that completes an electric circuit circuit on a case by case basis. Genuinely straightforward. It
when you press on it. When its on a small metal spring inside doesn’t get considerably more essential than jumper wires, as
makescontact with two wires , allowing electricity to flow. a matter of fact. Howeverjumper wires arrive in various
varieties, the tones don’t really make a difference. This
implies that a red jumper wire is in fact equivalent to a dark
one. However, the varieties can be utilizedfor your potential
benefit to separate between sorts of associations, like ground
or power. Jumper wires commonly come in three variants:
male-to-male, male-to-female and femaleto-female. The

IJISRT22JUL1441 www.ijisrt.com 1639

Volume 7, Issue 7, July – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
distinction between each is in the end point of the wire. Male VI. DESIGN AND IMPLEMENTATION
closures have a pin distending and can plug into things, while
female finishes don’t and are utilized to plug things into. A. Hardware Implementation
Male-to-male jumper wires are the most widely recognized First of all, plug all thirty female-male jumper pins to
and what you probably will utilize most frequently. While the Arduino. Then, connect the positive (+) pin of the sensor
interfacing two ports on a breadboard, a male-to-male wire and 3.3v (+5 volts) of your Arduino to VCC on breadboard,
you’ll require. the ground (-) pin of your sensor and GND (-) of your
Arduino to GND on breadboard. Enable CE pin of the sensor
E. Arduino Software Ide to determinewhether module is transmitting or receiving data.
Since Arduino is an open-source project, hobbyists can MOSI is master out slave in which is the SPI input to the
readily utilise the potent ATMega chips. The software used module. CSN is chip select not is an active low pin but is
to develop code and upload it to the ATMega chip is called normally kept high so that when it turns low the module
the Arduino IDE. The chip then runs the code in question. begins listening to itsSPI port for data processing SCK.
Serial clock for accepting clock pulses from the SPI bus
master. MISO is master in slaveout in which SPI output to
the module. IRQ is an interrupt pin but in most of the
projects with Arduino not used. For SCK pin 13, MISO pin
12, MOSI pin 11 is used. Once all of the connections have
been done, you are ready to go onto the software side of this
project.

B. Software Implementation Programming ARDUINO

Once Arduino IDE is installed on the computer, con-
nect the board with computer using USB cable. Now openthe
Fig 6:- Jumper Wires 46rduino IDE and choose the correct board by se- lecting
Tools¿Boards¿Arduino/Genuino Uno, and choose the correct
The majority of 3D printer electronics are compatible Port by selecting Tools¿Port. Arduino Uno is pro-grammed
with Ar-duino; they make use of the ATMega chip and let using Arduino programming language based on Wiring. To
users upload their own code using Arduino. Megatronics, get it started with Arduino Uno board and blink the built-in
Minitronics, and RAMPS are all included in this. You need LED, load the example code by selecting Files¿ Examples¿
software firmware that converts machine instructions into Basics¿ Blink. Once the example code (also shown below) is
actual motions before you can use the electronics. Several loaded into your IDE, click on the ‘upload’ button given
variations are available, including Marlin, Sprinter, and onthe top bar. Once the upload is finished, you should see the
Repeater. Arduino’s built-in LED blinking.

You must first use File Open to open the files in 1) Arduino – Program Structure:
order to upload a firmware. From the directory containing the We will study in depth; the Arduino program structure
firmware, choose the.ino file. Arduino will launch numerous and we will learn morenew terminologies used in the Arduino
tabs containing files. The appropriate electronics board must world. It is free to get the Arduino software. The LGPL
then be chosen. Find the Board item under the Tools menu. governs the licencing of C/C++ microcontroller libraries,
Megatronics, Minitronics, Arduino Mega 2560 (RAMPS while the GPL governs the source code for the Java
with Mega 2560), and Arduino Mega 1280 are a few sub environment. Sketch: The Arduino programme ”sketch” is
itemsthat this item should have (RAMPS with mega1280). the first example of new nomenclature. Structure The three
Choosea board for your electronics. The serial port that the basic components ofan Arduino programme are Structure,
electronicsare linked to must also be chosen. Find the Serial Values (variables and constants), and Functions. The Arduino
port item under the Tools menu. If the board is connected and software programme will be explained in detail in this
the driversare correctly loaded, this should include at least tutorial, along with howto develop a programme without
one item. If there are additional items, you really want to making any syntax or com- pilation mistakes. Starting with
figureout which is the right one by turning off the board and the Structure, please. There are two primary purposes of
checking which port was eliminated. Whenever you have set software structure: Configure() function () function loop
the board and sequential port, you can transfer the firmware PURPOSE: A sketch begins by calling the setup () function.
by squeezing File → Upload. Arduino will attempt to order Use it to start using libraries, pin modes, initialise the
the firmware, assuming any mistakes happen the cycle will variables, etc. The setup process will only be executed once.
stop and you should fix the blunders prior to attempting once
more. When accumulation is finished, the genuine transfer INPUT:
will begin. This might require a moment for a larges ketch. OUTPUT:
Arduinoprogramming is the instrument to consume the hex RETURN:
document on the chip. It gives the plat structure to circuit
format, circuit plan and real time execution.

IJISRT22JUL1441 www.ijisrt.com 1640

Volume 7, Issue 7, July – 2022 International Journal of Innovative Science and Research Technology
ISSN No:-2456-2165
PURPOSE: Following the creation of a setup () method that VII. RESULTS
initialises and sets the initial settings, the loop() function
performs exactly what its name implies: it loops sequentially,
allowing your programme to evolve and respond. You can
useit to directly control an Arduino board.

INPUT:
OUTPUT:
RETURN:

Then make an RF24 object with two arguments, using

the CE and CSN pins as arguments. Pins 8 and 9 are being
used in this instance, respectively. For the address or pipe that
the two modules use to communicate, create a byte array. Any
five-letter string will do. We use the radio.begin() procedure
to initialise the radio object for Transmitter. The radio is on. Fig 7
The WritingPipe() function is used to set the address of the
transmitter, whereas radio is used to set the address of the
receiver. use openReadingPipe(). Since the modules are close
to one another, we set the Power Amplifier level to minimal
using the radio.setPALevel() function. The module is config-
ured as transmitter by the radio.stopListening() function, and
the radio.start Module is set as recipient via listening(). radio.
write () function is used to communicate with the recipient.
Themessage that we wish to transmit and the number of bytesin
that message make up the first and second arguments for this
function, respectively. The variable that stores the data to be
transferred is denoted by the symbol ”,” and sizeof() returns
allof the variable’s bytes. You can send up to 32 bytes at a
time using this technique. Because the nRF24L01+ can only
handle a single packet of such size. The radio.available() Fig 8
method for the receiver is used to determine whether data is
available for reception. If there is data in the buffer, this VIII. CONCLUSION
function returns TRUE. The function radio.read() reads and
stores information into a variable such as The state of LEDs We demonstrated a straightforward swarm robot
is then managed by fbuttonState. How to Increase RF Signal controller utilising an Arduino UNO and nRF24L01
Power. Any wireless communication system’s primary transceiver module. In order to use Arduino in a swarm
concern is communication range, which also determines the robotics application, an experiment was conducted. Led is
type of device to utilise for a given application. We can used to observe the master-slave method algorithm for
consider the following fixes to increase the nRF24L01+ multirobot communication. Here, one robot instructs other
module’s broadcast range. robots to perform a specific task; anytime we press a button,
two LEDs light displays the predicted outcome and
1. Utilizing bypass capacitors between the modules’ GND coordinates.
and 3.3V that have a capacitance of roughly 4.7 to 47 F
will help reduce power supply noise and improve the REFERENCES
modules’ operating voltage stability. An nRF24L01
adaptor module can be used to accomplish this with ease. [1]. J. Penders et al., “A robot swarm assisting a human
2. Altering your channel frequency to cut down on inter- fire fighter” Adv.Robot., vol.25, no. 1-2.
ference from WiFi and other nearby wireless network [2]. G. Spazzano “Swarm Robotics” cited by 5.
signal sources. The nRF24L01+ module should typically [3]. Ying Tan. “Handbook of Research on design, control
operate between 2.40 and 2.524GHz. Using the and modelling of swarm robotics”. From Peking
radio.setChannel()function in the code, the frequency can University, China in 2016.
be changed. For instance, the modules will speak at 2.421 [4]. Ravinder S. Dahiya and Maurizio Valle “Tactile
GHz if we useradio.setChannel(21). Sensing for Robotic Applications”
3. Significantly reducing the data transfer rate improves the [5]. www.researchgate.net
range. The radio is used to set the data rate in the code.the [6]. Academia.edu.
setDataRate() method. The slowest speed available—250 [7]. www.journal.sage.pub
kbps—is denoted by the argument RF24-250KBPS, and [8]. www.hindwani.com
it provides the widest range of data transfer. RF24-1MBPS [9]. http://www.frontiersin.org/
standsfor 1 Mbps, while RF24-2MBPS stands for 2 Mbps,
providinga faster transfer speed but with a shorter range.

IJISRT22JUL1441 www.ijisrt.com 1641