Design and Evaluation of Behavior Control Algorithm for Multiple-Mobile-Robot System in Panel Cruising Problem

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  • Matsumoto Takuya
    Graduate School of Advanced Technology and Science, Tokushima University
  • Yasuno Takashi
    Graduate School of Advanced Technology and Science, Tokushima University

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In this paper, we describe the design and evaluation of a behavior control algorithm for a multiple-mobile-robot system in a panel cruising problem. In order to achieve given tasks, fundamental functions such as path planning, path tracking, obstacle avoidance, and energy conservation are required for each mobile robot. Therefore, we propose an intelligent behavior control algorithm that was derived by analyzing the operator's manipulation data. In particular, we focus on the implementation of decision-making skills making it possible to maintain a balance between selfish and altruistic behaviors in a multiple-mobile-robot system, and confirm the usefulness of the proposed behavior control algorithm from several computer simulations.

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