Multi-autonomous robot system employing a frock control algorithm based on limited local information

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  • ローカルな情報に基づく群れ行動アルゴリズムの自律移動ロボット群への実装
  • ローカル ナ ジョウホウ ニ モトズク ムレ コウドウ アルゴリズム ノ ジリツ イドウ ロボットグン エ ノ ジッソウ

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Abstract

In many research on flock behaviors, an absolute coordinate system is used for identifying a position of each individual of a flock. It is costly to obtain the position in the absolute coordinates under practical applications because special devices, such as GPS, are necessary. Therefore we have developed an effective flocking algorithm for practical uses, which uses limited local information surrounding an individual instead of the absolute coordinates for obtaining its situation. In this paper, we implement the algorithm into multi-autonomous robot system and investigate the behavior under practical environments. Here, we demonstrate a flock behavior and obstacle avoidance using a flock of four mobile robots. Finally the validity of the proposed algorithm is discussed through the demonstration results.

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