動的再構成可能ロボットシステムに関する研究 : 第26報, 分散協調センシングに基づく移動経路計画とナビゲーション

概要

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In this paper, path planning for robots by the distributed autonomous robotic system (DARS) in an unknown or partially known environment is described based on distributed sensing. We believe that the basic problem of optimality for path planning and replanning in an unknown or partially known environment is related to the environmental information robot acquired. In particular, the key to increasing the efficiency of path replanning is to enhance the ability of the robot to sense its environment. Considering the characteristics of sensing information in DARS, distributed in time, space, and function, we propose that it is practical for each robot in DARS to use (integrate) sensing information of other robots so as to compensate the lack of a single robot's ability to sense. Through our simulation experiment, it is shown that the efficiency of path planning and replanning for a single robot in DARS is clearly improved based on distributed sensing. In considering the uncertainty of sensed environmental information, methods of handling uncertainty in sensing information exchanges among robots and environmental representation, and approach for path planning and replanning are also described.
一般社団法人日本機械学会の論文
1996-09-25