熱力学モデルに基づく群ロボットの集団移動

抄録

This paper proposes a collective movement control method based on both of an internal energy and a phase transition in thermodynamic model for swarm robots, which can move between obstacles with changing an aggregation suitable for arrangement of obstacles in an environment. Swarm robots shape a fixed aggregation by virtual attraction and repulsion forces based on the method, and follow a leader robot with keeping its shape. When the aggregation shape of swarm robots cannot keep to move through narrow spaces surrounded by obstacles, the swarm robots flexibly change the shape according to a shape of the environment based on a partial phase transition provided with directivities, and can continue to move. Simulation results show that swarm robots can move along to the path in an open space, and pass through narrow spaces surrounded by obstacles with changing the aggregation shape according to the environment.