Color-Coded Light Signals Based Communication for Swarming Behaviors in Mobile Robotic System

Algorithm 1

Obstacle avoidance algorithm.

  Data: IR sensor readings: (S1, S2, S3)

  Result: Obstacle avoidance motion

1 Function Avoid Obstacle ():

2  Read sensor values S1, S2, S3

3  if (S1 > threshold) or (S2 > threshold) or (S3 > threshold) then

4   if (S1 < threshold) and (S2 > threshold) and (S3 < threshold) then

5    Move back

6    Turn left

7   else

8    if (S1 < threshold) and (S2 < threshold) and (S3 > threshold) then

9     Turn left

10    else

11     Turn right

12    end

13   end

14  else

15   Move forward

16  end

17 end