協調障害乗り越え行動が可能な探索ロボット群

抄録

Exploring in an unknown environment with multiple robots is fundamental and important in mobile robotics. Therefore, many studies which are related to this have been done so far. However, in any studies, it is premised that a flat environment is searched, and only an avoidance is considered when obstacles which can not be climbed by single are present in a search route. For such case, it is conceivable that a search efficiency would decrease or, in the first place, it would be impossible to reach a target. In our study, in order to solve these problems, we thought that multiple robots climb obstacles that can not be climbed by single. In this paper, we propose search robot group which is capable of cooperative obstacle-climbing action and an path planning method for this.