2A2-F15 複数移動ロボットの群逃避行動を実現する分散制御アルゴリズムの提案

概要

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Cooperative behaviors and control strategies using by animals, birds, fishes and human are usually good examples for designing distributed control architecture of multiple robot team. In last two decades, schooling behavior of fish was being used as a good model to control multi-mobile robots with local sensing ability and local interaction only, and several research groups have successfully demonstrated full distributed control architectures on controlling robot swarm via simulations or experiments. Another interesting behavior offish schools in escaping behavior which shows all fish change their moving directions rapidly without any explicit communications while some fish data of enemy. In this paper, we proposed a distributed algorithm to perform group escape behavior without inter-robot communication by mimicking behavior offish schools. This is important for a robot team to achieve some emergency tasks inter-robot where communication is restricted. Some simulation results are provided for illustrating the validity of the proposed algorithm.
一般社団法人日本機械学会の論文
2009-05-25