協調牽引により溶接ケーブルを最適形状に維持する群ロボットシステム

―第2報：多目的最適化に基づく牽引ロボットの誘導手法の提案―

抄録

The authors have been developing a swarm robot system to automate long distance welding in narrow and high places, which cannot be handled by existing welding robots. In welding operations, it is necessary to tow not only the welding torch but also the cables that supply welding wire and gas to the torch. In addition, when welding in a narrow space, it is necessary to avoid excessive stress on the cable and to avoid obstacles such as walls. In this paper, the authors propose a method for path planning and autonomous navigation by solving a multi-objective optimization problem that satisfies these conditions. In this paper, the authors consider the case of towing cable on a two-dimensional plane and evaluate the proposed method by simulation.