複数台移動ロボットによる協調捕獲に関する基礎研究 : 追跡問題における協調捕獲の提案(機械力学,計測,自動制御)

概要

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Nowadays the evolution of robots is amazing. However, we cannot make the intelligence and the function of robots higher enough when the work range of robots increases and the contents of work become complicated. Thus, as the strategy to cope with these problems, many researchers are studying the autonomous distributed robot system. The aim of our research is to propose a behaviour planning and a cooperative capture strategy of the autonomous distributed robot system through the examination of preceding studies on "Pursuit Problem" which is taken up as a task of multi-agent systems. In this paper, we demonstrate a deadlock avoidance by making the mobile robot repeat simple behaviors which we propose. We have made some experiments on the simulation system we have built, and the results of cooperative captures are reported in this article.
2005-02-25