1A1-K02 袋路を含む未知環境下での群ロボットの分散的移動手法(複数ロボットの協調制御)

概要

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This paper addresses the adaptive navigation problem for a swarm of autonomous mobile robots. From the observation of schooling behaviors, we propose a novel adaptive navigation algorithm, enabling large-scale robot swarms with limited sensing capabilities to navigate toward the goal. The adaptive navigation algorithm is based on our geometric local interaction which allows three neighboring robot to locally form an equilateral triangle lattice. During navigation in an unknown environment, mobile robots maintain the local formation. According to environmental conditions, this algorithm allows the swarm of robots to split into multiple groups or merge with other groups. More specifically, an encountered dead-end passageway drives robots to travel in the reverse direction, and they merge with another adjacent group. Accordingly, their local motions can recover the whole swarm network from the constrained environment. Through extensive simulations, we validate the effectiveness and scalability of the proposed algorithm.
一般社団法人日本機械学会の論文
2011-05-26