it needs to move, the change in the position and orientation of the robot is calculated.
This information is changed into proper wheel rotations in radians using the axle and
wheel lengths of the robot. Based on the robot speed, the time required to move the robot
is calculated. This time duration is given as input to the function
'differential_wheels_setspeed', which rotates the wheels accordingly. This is repeated
for all the iterations and the total time for spreading is calculated and stored.
5.2.4 Results and Discussion
The demonstration shown here uses the parameters listed in table 5.2. The
controller program can be downloaded to readymade robots like koala in the future. But
care must be taken while modifying the parameters properly for the chosen model of the
robot.
Table 5.2 Parameters used in Webots simulation
Parameter Value
Number of robots 7
Radius of the circle 4 m
Number of iterations 60
Time step (when the robot speed is 1 m/s) 3 microseconds
Wheel Length 0.05 m
Axle Length 0.16 m
Minimum speed of the robot (used for rotating the robot) 0.1 rad/s
Maximum speed of the robot (used to move the robot) 0.5 rad/s
Figure 5.7 shows the spreading of robots as seen in Webots GUI. The total time
taken by the robots for spreading is found to be 2013.583 seconds & 33 minutes 33
seconds. Spreading time can be reduced by increasing the speed of the robot. But it must
be realized that the minimum speed of the robot used while bringing the correct