Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 01, 2022 - June 04, 2022
Virtual pheromone trailing has successfully been demonstrated for navigation of multiple robots to achieve a collective goal using a leader follower scheme. Many previous works use a pheromone deposition scheme which assumes perfect localization of the robot, however there is always some uncertainty due to sensor errors. If the leader robot gets lost, pheromones are deposited at the wrong places. Other robots trailing its pheromones will end up being in entirely wrong areas of the map. We propose a pheromone deposition algorithm which models the uncertainty of the robot’s pose. Experiments in simulated environments confirm that the proposed method models the uncertainty in pheromone deposition for multi-robot navigation.
