自律分散システム研究用デバイスの開発

―設計・製作と基本特性の評価―

抄録

Today, many robots such as industrial robot arms and automatic agricultural machines work operation that is simple or put a burden on humans in various places instead of ourselves. However, in the present circumstances, they are good at repeating motions instructed by computer programs, whereas they cannot handle unexpected circumstances easily; so the level of a robot which can actively and creatively act continues to be an important research subject. Besides, it is expected to make "multi robots" perform a certain task cooperatively under a changing situation. Especially from the latter point of view, it seems to be effective to make the robots acquire their own abilities and the mutual relationships between them in a learning manner, regarding the whole as an autonomous decentralized system. In this research, we designed and prototyped some moving robots (four-wheeled vehicles) and evaluate their basic characteristic in order to conduct our actual machine-based research.