2A1-H01 複数台移動ロボットによる協調捕獲(マルチエージェント・モジュールロボット)

概要

論文の詳細を見る
Works by multiple robots are expected to improve the task efficiency. Therefore various researches are performed about the cooperation with multiple robots. Against this background, this paper deals with the pursuit problem that is a typical task for multi-agent system. Most of previous studies on multi-agent system assume homogeneous ability of each agent. In our research, individuality of agent abilities is considered for application in real environment. In this paper, we especially focus on the speed difference between preys and the predator, and propose scatter algorithm in order to improve capture rate when speed difference doesn't exist. Several simulation experiments are carried out, and show the effectiveness of the proposed algorithm.
一般社団法人日本機械学会の論文
2007-05-11