抄録
This paper proposes a system, which realizing a collective autonomous behavior such as an autonomous conveyance order formation in the AGV (Auto Guided Vehicle) transportation system. We attempt to deal with a large scale distributed autonomous system in dynamic environment feasibly. We have worked to realize the dynamically reconfigurable formation in the dynamic environment, and we showed that the dynamically reconfigurable formation emerges as the autonomous conveyance order formation of AGV transportation system in the dynamic environment. But It could not be mentioned when the restoration of the unloading success probability was caused by the self-organization, since the index of the self-organization is not clarified. In this paper, We define a strategy diversity as an index to the self-organization, and it is shown that it carries out the restoration of the unloading success probability with the diversity-regulation process of the strategy. Moreover, it is shown that adaptable parameters to the dynamic environment can be found by a distribution of “Self-organizing velocity”, which is difference of strategic diversity.
