Implementing Obstacle Avoidance and Follower Behaviors on Koala Robots Using Numerical P Systems

Abstract

Membrane controllers have been developed using Numerical P Systems and their extension, Enzymatic Numerical P Systems, for controlling mobile robots like e- puck and Khepera III. In this paper we prove that membrane controllers can be easily adapted for other types of robotic platforms. Therefore, obstacle avoidance and follower behaviors were adapted for Koala robots. The membrane controllers for Koala robots have been tested on real and simulated platforms. Experimental results and performance analysis are presented.