抄録
This paper presents a new strategy for motion planning of multiple robots as a multi-agent system. The system has a decentralized configuration. All the robots cannot communicate globally at the same time, but some robots can communicate locally and coordinate to solve competition for a public resource. In such system, it is difficult for each robot to plan its motion effectively while considering other robots, because the robots cannot predict motions of other robots as an unknown environment. Therefore, each robot only determines its motion selfishly for itself whicle considering a known environment. In the proposed approach, each robot plans its motion while considering the known environment and using empirical knowledge. The robot considers its unknown environment including other robots in the empirical knowledge. The Genetic Algorithm is applied to optimization of motion planning of each robot. Through iterations, each robot acquires knowledge empirically using fuzzy logic and the system behaves efficient evolutionary. For illustration, this paper deals with path planning of multiple mobile robots and creates simulations.
