Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
In this paper, we propose a cooperative multi-robot control system, operating in dynamic and uncertain environments. We focus on a robust model predictive control (robust MPC) framework that enables robotic agents to operate in uncertain environments. The proposed system includes multiple observation robots that gather information cooperatively as well as a main robot controlled by the robust MPC. Therefore, the system works for not only treating the uncertainty but also decreasing it so that the performance of the robust MPC can be improved. We carry out a Monte Carlo simulation of a multi-robot collision avoidance scenario and analyze a required time for the main robot to arrive at the goal. Simulation results show that the information acquisition by the observation robots enables the main robot to move efficiently and arrive at the goal faster than a case without the observation robots.
