2A2-B30 異種ロボットを用いたマルチロボットシステムのための編隊形成手法

概要

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The concept of a robot formation allows a multi-robot system to transfer every robot efficiently. When the system is composed of some heterogeneous robots, it is necessary to deploy the robots at each desired position where their ability is demonstrated enough. We have already proposed a formation method which can specify the position of each robot in a group. The method was verified through some simulations, where the robots were assumed to be heterogeneous and identified. When applying the method to a real robot system, it needs to obtain IDs and relative positions of the robots. A measurement system is here proposed using wireless communication and ultrasonic sound. The measurement system is evaluated on an estimation accuracy of relative position through some simulation experiments.