日本機械学会論文集C編
Online ISSN : 1884-8354
ISSN-L : 1884-8354
一般論文
自律分散ロボット群による障害物クラスタ形成の解析と制御
末岡 裕一郎北 卓人石川 将人杉本 靖博大須賀 公一
著者情報
ジャーナル フリー

2013 年 79 巻 801 号 p. 1718-1727

詳細
抄録

In this paper, we discuss some phenomena of obstacle clustering by distributed autonomous robots, in the light of space-discretization (or cellular automata) approach. This work was motivated by Swiss Robots which collect scattered obstacles into some clusters without any global information nor intelligent concentrated controller. Then we define fundamental event rules in this cellular world, and introduce two types of local rules for robot action: one is the Push & Turn rule, which can collect obstacles, the other is Pull & Turn rule, which can scatter obstacles. By defining several indices (ratio of immobile obstacles, ratio of moved obstacles), we investigate the dynamic equilibrium of obstacle clustering by heterogeneous agents. And, this paper also presents a control method of ratio of immobile obstacles from the estimation of each robot's local information even if all the states of obstacles cannot be measured.

著者関連情報
© 2013 一般社団法人 日本機械学会
前の記事 次の記事
feedback
Top