BRAIN Journal-Swarm Robotics with Circular Formation Motion Including Obstacles Avoidance-Figure 7. The first obstacle with 100 robots after passing some robots

<p>The pseudo code description to move the group set to avoid the predefined first obstacle as shown later in experimentation section. First obstacle crossing is given in Algorithm 5 and Figure 7. </p> <p>Algorithm 5: Move Swarm Robotics Over First Obstacles</p> <p>Purpose: Avoid First Obstacles one robot can pass through obstacles</p> <p>.Input: Constant W= Width Of Gap on Obstacles, Oc= Center of Gap begin of Obstacle Oc2= Center of Gap end of Obstacle {p1,p2,p3} position of three robots on circumference of group set circle GSN group set number</p> <p>{P1,…,Pn}set of position for robots on group set {r1,…,rn }∈GSN DRH Distance Swarm Robotics Will Stop in Before Obstacles Cxy' New Circular Formation Center After Avoid Obstacles Cg: =cx, cy center of group set