Multi-Robot Coordination System

A collaborative robotics project implementing autonomous navigation and object transportation using three coordinated robots in the Webots simulator. Each robot is responsible for a specific section of the environment and works together to transport green bottles across the map.

Project Overview

This system simulates three robots working together to:

1. Detect and collect green bottles
2. Navigate through a sectioned environment
3. Hand off objects between robots
4. Avoid obstacles and walls
5. Return to searching positions

Robot Roles

• Robot 1 (Left Section): Searches for green bottles and transports them to the handoff point with Robot 2
• Robot 2 (Middle Section): Receives bottles from Robot 1 and hands them off to Robot 3
• Robot 3 (Right Section): Receives bottles from Robot 2 and places them in the final destination area

Technical Requirements

Software Requirements

• Webots R2024a or later
• Java Development Kit (JDK) 11 or later
• Webots Java API

Hardware Used in Simulation

• E-puck robots with the following sensors:
  • Camera (64x64 resolution)
  • Distance sensors (6 sensors)
  • Touch sensors
  • Compass
  • Accelerometer
  • LIDAR (Robot 2 only)
• Gripper attachment for bottle manipulation

Robot Behaviors

Robot 1 (ProjectController1.java)

• States:
  • WANDER: Search for green bottles
  • HOME_IN: Approach detected bottle
  • HEAD_TO_GROUND: Lower gripper to grab bottle
  • HEAD_TO_RIGHT: Navigate to handoff point
  • PIVOT: Rotate to transfer position
  • AVOID: Obstacle avoidance
  • PIVOT_TO_POSITION: Align for handoff

Robot 2 (ProjectController2.java)

• Uses LIDAR for precise positioning
• Maintains position awareness using compass
• Handles bottle transfers between Robot 1 and Robot 3

Robot 3 (ProjectController3.java)

• Receives bottles from Robot 2
• Navigates to final placement area
• Returns to waiting position after placement

Key Features

• Computer Vision: Uses camera feed to detect green bottles (RGB values)
• Sensor Fusion: Combines data from multiple sensors for accurate positioning
• State Machine: Each robot implements a state machine for behavior control
• Obstacle Avoidance: Uses distance sensors to avoid walls and obstacles
• Coordinated Handoffs: Synchronized bottle transfers between robots

Setup Instructions

1. Install Webots R2024a
2. Clone this repository into your Webots projects directory
3. Open worlds/robot_world.wbt in Webots
4. Compile the Java controllers:

   javac -cp "path/to/webots/lib/controller/java/Controller.jar" controllers/*.java

5. Run the simulation in Webots

Common Issues and Solutions

1. Robot Alignment Issues

   • Ensure compass readings are properly calibrated
   • Check distance sensor thresholds

2. Missed Bottle Pickups

   • Adjust RGB detection thresholds
   • Fine-tune gripper positions

3. Failed Handoffs

   • Verify robot positioning angles
   • Check timing of gripper operations