This document discusses tools and techniques for swarm mobile robot navigation in fenced areas. It describes using MATLAB software and the KIKS simulator to design a fuzzy logic controller for navigation. The project technique involves building an environment with obstacles, designing the fuzzy logic controller with input and output variables and rules, implementing a navigation system based on the controller, and testing navigation with and without obstacles.

1. Swarm Mobile Robot Navigation &
Fenced Areas
Tools and Techniques
By:
Dr. Sherif Kamel
Mashael A. Al Mutairi
International Journal of Computer Science & Information
Technology (IJCSIT)
(INSPEC INDEXING)
ISSN: 0975-3826(online); 0975-4660 (Print)
http://airccse.org/journal/ijcsit.html

2. Tools
1. MATLAB® software
• Matlab is an abbreviation for "Matrix-Laboratory".
• language and interactive environment developed
by MathWorks®.
• Used for analyzing data, developing algorithms,
and creating models.

3. Tools
1. MATLAB® software
• In this work, we will use matlab version R2018a.
• Matlab provides a lot of Toolboxes that can be
installed. We installed the Fuzzy Logic toolbox
which designs systems based on Fuzzy logic.

4. Tools
2. KIKS
• KiKS is an abbreviation for Khepera Simulator.
• Developed by Theodor Nilsson.
• Matlab application which simulates a Khepera
(II) robot.
• Free and simple software.

5. Tools
2. KIKS
• We can deal with the simulated robot by Matlab
as the real one.
• To use KiKs we need to have the kMatlab
modules.
• The kMatlab package has the core commends
that used to communicate with Khepera.
• kiks2.2 version.

6. Project Technique
1. Build the environment and set location and size
of each obstacle.
2. Design Fuzzy logic controller by using the fuzzy
logic toolbox. We will determine the input and
output variables and set the rules.

7. Environment:
5000×4000 mm

8. Fuzzy logic controller:

9. Fuzzy Logic Rules

10. Fuzzy Logic Rules

11. Project Technique
3. Implement navigation system based on the fuzzy
logic controller.
4. Implement the swarm robot.
5. Implement the obstacle avoidance technique.

12. Navigation in Environment Without Obstacles.

13. Navigation in Environment Without Obstacles.

14. Navigation in Environment Without Obstacles.

15. Navigation in Environment Without Obstacles.

16. Navigation in Environment With Obstacles.

17. Navigation in Environment With Obstacles.

18. Navigation in Environment With Obstacles.

19. Navigation in Environment With Obstacles.

20. THANK YOU
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