無限定環境下での土砂運搬に向けた単一チームにおける動的協働システムの設計

抄録

In recent years, it is required that autonomous construction machines (backhoe and dump truck) work together in an unlimited (unknown/unexpected/uncertain) environment to realize collaborative sediment transportation. In an unlimited environment, anomalies such as stuck or malfunctioning of autonomous construction machines occur, so a group of autonomous construction machines requires dynamic team organization. However, such a system has not been established. Thus, this study designs the autonomous flow to dynamically reorganize teams based on an index called the performance to evaluate sediment transport efficiency. Using Vortex Studio Simulation, this paper confirms that teams can be dynamically organized to keep team performance adequate even when an anomaly occurs in which the construction machine gets stuck for a one-team sand and soil transportation.