非線形力学系に基づくレヴィウォークを用いたクローラ型スワームロボットの屋内ターゲット探索

抄録

This study tackles the task for swarm robotics where robots explore the environment to detect a target. When a robot detects a target, the robot must be connected with a base station via intermediate relay robots for wireless communication. In our previous results, we confirmed that Lévy walk outperformed the usual random walk for exploration strategy in real robot experiments using the small differential wheeled robots. This paper investigated the performance of a new Lévy walk generator, which is recently proposed in biology, for the target exploration problem on robotics through a series of real experiments using the crawler robots. The results suggest that the new Lévy walk, based on nonlinear dynamics, outperformed the one based on probability for search efficiency.