複数の移動ロボットを対象とする交通管制要素モデルの開発

抄録

With the increasing prevalence of mobile robots, it is anticipated that multiple different robots will be operated simultaneously within a single building in the future. The crossing of paths among heterogeneous robots presents a problem due to blockages. Traditional traffic control methods such as SIPP (Safe Interval Path Planning), CBS (Conflict-Based Search), and the sharing of map information have been proposed. This report describes a traffic control element model that defines areas requiring traffic control as a collection of nodes and mappings, proposing a method for decentralized dynamic management. The traffic control element model demonstrates the capability to implement both SIPP and CBS, and by integration, it can implement intersections and passage facilities. Results from numerical analysis are presented to verify the structure within a building.