波動表現に基づく情報処理モデルに関する基礎研究　自律機械群の経路探索問題へのアプローチ

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  • Study on an Information Processing Model using Vibrating Potential Representation. An Approach to the Find Path Problem of Autonomous Machines.
  • ハドウ ヒョウゲン ニ モトズク ジョウホウ ショリ モデル ニ カンスル キ

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A new approach of finding the path to a goal automatically is proposed in this paper. For this problem, our approach uses the vibrating potential method (VPM) to provide the strategy for finding the path. The VPM is a new problem solving system we proposing, and has sufficient unity of fundamental mathematical expression to describe the movement of agents as autonomous machines. In this method, a vibrating potential field (VPF) as an environment is constructed by agents and their interaction energy. These agents interact with each other by the information from the detected wave motion from the environmental surroundings. By the VPM, each agent can decide its movement through detection of wave motion as the environmental surroundings without specific problem oriented programming. In this paper, we set moving-robot agents (RA), obstacle agents (OA) and goal agent (GA) on VPF. We show computer simulations that RA can find the path by two methods. One is position control by local-area sensoring and the other is path planning by detecting global information from GA.

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