2A1-H02 群ロボットによる複数の移動ゴールの追従(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
Tracking control is an essential requirement for robot swarms capable of performing a wide variety of tasks in an unknown dynamic environment. In this paper, we present a cooperative tracking strategy that enables large swarms of robots to split into smaller groups and follow multiple moving goals in the presence of environmental constraints. Using a network of local interactions, the proposed strategy is implemented with two principal functions of both adaptive flocking and determination of a goal direction. During the flocking process, the robots with limited range of sensing are able to maintain a uniform distance to each other, while following multiple moving goals. Finally, we verify the effectiveness of the proposed tracking strategy by computer simulations both in empty and cluttered environments.
一般社団法人日本機械学会の論文
2007-05-11