循環行動するロボット群の渋滞に効果的な知的走行制御手法の提案(<小特集>TRANSLOG2009/J-RAIL2009)

概要

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This paper describes a methodology regarding an intelligent cruise control (ICC) of circulating robots which is directly effective for solving congestion regardless of the presence of a bottleneck. For this purpose, we focus on an external interaction force between the robots. This force is generated with the use of a virtual damper. In this methodology, control models on the basis of the following two scenarios are presented: a damping force acts on a moving robot as the external interaction force, (I) only when its preceding robot(s) is/are stopping or being congested and (II) when a robot exists in front of the moving robot, in order not to become involved in the congestion. This paper deals with a circuit and a robotic material transport system. Through simulation experiments, it is shown that the proposed ICC successfully solves the congestion, and finally, improves the performance.
2010-10-25