Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : September 09, 2018 - September 12, 2018
This paper presents a guidance control method that avoids large obstacles without collision of multiple mobile robots with other robots and obstacles. In this research we have conducted a lead guidance by the Leader-Follower method. A plurality of sonar sensors is incorporated in the robot, and the formation shape is controlled using only the distance information by the sonar sensor. In addition, when it is difficult to avoid formation while keeping the formation at the time of obstacle avoidance, we introduced an algorithm to change the ranks of robot groups to make it easier to avoid. In this case, in order to realize a method of temporarily changing the follower to follow and returning to the original shape again after avoiding the obstacle, an algorithm for estimating the position of the reader machine so as not to lose sight of the robot as the reader machine is introduced. We demonstrate the effectiveness of the proposed method by actual machine experiment using three robots.
