1A1-K04 流体力学的相互作用を活用した群ロボットの自発的群れ形成(マルチエージェント・モジュラーロボット)

概要

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A systematic design methodology of swarm robots that exploit physical interaction is still lacking. To tackle this problem, we propose a design method of swarm robots that exploit hydrodynamical interaction. The robots are placed on a 2D plane filled with compressive fluid, and they propel toward an attractant by pushing their bodies against fluid. Local sensory feedback is implemented into each robot, where its moving direction and driving force is adjusted based on the pressure gradient of fluid. Owing to this sensory feedback mechanism, the robots can swarm orderly without any informational interaction. The validity of the proposed design method is investigated through simulations, and the results show that robots successfully swarm even when initial conditions and direction of an attractant are varied.
一般社団法人日本機械学会の論文
2011-05-26