839 自己と群の総合的評価に基づく自律移動ロボット群の協調制御手法

概要

論文の詳細を見る
This paper presents a cooperative control method for a multi-agent robot system. The concept of this method is based on the evaluation information on the objective of multi-agent system. Robots communicate each other self-evaluation information on the objective. Each robot calculates the global evaluation information using shared self-evaluation information of whole robot. This method enables robots to perform flexible cooperation in dynamic environment. Its usefulness is verified by applying the method to the soccer playing robots for the middle size league of RoboCup. It was confirmed that effective cooperative behaviors such as efficiency of tasks and reduction of collisions among teammates are realized in heterogeneous soccer robots.
社団法人日本機械学会の論文
2007-09-25