A Collision Avoidance Control of Multiple Mobile Agents Based on Active Sensing

Abstract

There are increasing demands for developing systems consisting of multiple mobile agents that can move quickly, smoothly, and safely. Although several models in which agents move around on a two-dimentional field while avoiding others have been proposed, the proposed control schemes could not satisfy the above requirements. To address this issue, our group previously developed a mathematical model in which prediction of future motions of nearby agents is added to the social force model. However, this model requires a considerable calculation cost. To tackle this problem, we improve our previous model by incorporating active sensing. In this model, each agent has an internal state called “collision risk level”, and its sensing direction is determined on this basis. It is expected that the proposed control mechanism enables agents to reduce the calculation cost while achieving the above-mentioned three requirements.