親子型移動群ロボットの協調行動に関する研究 : 第1報,協調センシングアルゴリズムと障害物回避行動への応用

抄録

Behavior-based robotic systems have been successfully developed for a wide range of planar ground-based tasks. This paper proposes a behavior-based robotic system wich consists of multiple robots. The configuration of the system is a centralized one and there is a master robot acting as a leader. The other robots are used as slaves to sense their environments. The master robot collects the sensory information for fusion and integration so as to determine behavior of the system in its environment. If some slave robots malfunction, the master reorganizes the other slave robots to compensate for the malfunctioned robots. Using this characteristic, the system is able to carry out tasks in dangerous environments. To illustrate the performance of the proposed system, simulations are carried out while dealing with moving tasks in unknown or dangerous environments.