1A1-D04 分子間ポテンシャルモデルに基づく複数ロボットの集団移動(複数ロボットの協調制御)

概要

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The paper describes a behavior of collective robots by applying the intermolecular potential model. The Lennard-Jones potential that is one of the models of the intermolecular potential shows a dynamic interaction of intermolecular. In the Lennard-Jones potential, repulsion and gravitation corresponding to the intermolecular distance are caused by the energy level of the molecule. The behavior generation of the robot group is tried by applying this model as the interaction model among robots. Virtual interaction is caused according to the distance between robots when this model is applied to the collective robots, and it is thought that state of the robot group can be controlled. Then, control of the collective movement of the robots is tried by using the Lennard-Jones potential through simulation.
一般社団法人日本機械学会の論文
2007-05-11