非ホロノミックな拘束を有する移動ロボット群の捕捉行動(機械力学,計測,自動制御)

概要

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This paper presents a hybrid control system consisting of a distributed time-varying feedback control law and a behavior-based control framework to coordinate motions of multiple non-holonomic mobile robots with two wheels driven independently on capturing/enclosing a target by making troop formations. This motion coordination is a cooperative behavior for security against invaders in surveillance areas. Each robot in this control law has its own coordinate system and it senses a target/invader, other robots and obstacles, in order to achieve this cooperative behavior without making any collision between them. Each robot especially has a two-dimensional control input referred to as a "formation vector" and the formation is controllable by the vectors. As for determining the formation vectors, we use a behavior-based control framework in which the robot has some reactions heuristically designed according to this cooperative hunting behavior. The validity of this hybrid system is supported by computer simulations.
一般社団法人日本機械学会の論文
2003-12-25