2A2-F13 自律移動型群ロボットの開発と場に基づく制御

概要

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So far, we have developed the swarm control method based on the vector field for congestion reduction. In this method, assuming that the individuals in the swarm take their own motion following the defined vector field, the swarm behavior is modeled by continuum. The density of the continuum is calculated by the continuity equation and the position of the poles that prevent the flow are determined based on the obtained density. The effectiveness of the proposed method is evaluated by the simulations, however, it is necessary to confirm its phenomenon by an experimental environment in the real world. In this paper, we design and develop the autonomous mobile robots. They have a two-dimensional localization sensor, range sensors for collision avoidance, CPU, battery and a wireless LAN module to communicate with a host PC. The control algorithm is implemented to the CPU and the usability of the robots is verified.
一般社団法人日本機械学会の論文
2009-05-25