自律小形移動ロボットMARSを使った群制御手法

概要

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In this paper, we present the design of our small robot MARS(Micro Autonomous Robotic System)and basic experiments of group behavior pattern generation. MARS is a small mobile autonomous robot.The robot has sensors, actuators, CPU, battery, and infrared light communication device. The robot can get a program from the host computer through the wireless communication system. Moreover, the robot can exchange information with the other robot through the wireless communication system. We focus on how to realize the group behavior based on the immune network algorithm. Using this platform, we tried the basic experiments, such as following light and gathering. We succeeded in generation of the simple group behavior of tracking the object by the immune network algorithm.
2000-03-25