局所相互作用を用いた匿名自律移動体群ナビゲーションにおける収束状態解析

抄録

In this reserch, a method of navigation by local interaction of oscillators depending on sensor outputs is proposed. Under an environment where communication difficult for robots, we need a communication method with law cost. On the other hand, true slime mold uses phase for information transmission. However, previous studies needed special robots capable of an ordered formation. In this paper, we propose a method of swarm navigation of multiple autonomous robots that does not require special robots by local interaction of oscillators and show the result of navigation simulation of the system on a 2-dimensional plane. Furthermore, we analyze the convergence state of the system.