1A1-D06 クラスタロボットモジュール間通信を利用した形態形成過程のシミュレーション研究(複数ロボットの協調制御)

概要

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We are proposing the cluster robot system as one example of the autonomous disperse robot system. The morpho-configuration of a cluster robot system is mainly governed by the collision probability of its element modules that may be increased by introduction of telecommunication among the moving modules. This paper clarifies, by computer simulation, quantitatively the enhancement of module-connection rate, in the process of morpho-configuration, by a particular communication-module-action rule. The most important factor is found the orientation angle between two modules under communication when they start to approach each other. Moreover, we examine relationship between module speed and action. We realize critical speed for stability of cluster robot system.
一般社団法人日本機械学会の論文
2007-05-11