近傍のロボットと障害物の識別を必要としない移動ロボット群の制御アルゴリズム  [in Japanese] A Control Algorithm for Multiple Mobile Robots without Distinguishing between Neighboring Robots and Obstacles  [in Japanese]

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Author(s)

Abstract

Most existing studies for multiple mobile robots assume that robots can distinguish between other robots and obstacles. However, there would be many cases in which it's not easy for mobile robots to do that in practice. In this paper, we propose a control algorithm for multiple mobile robots without distinguishing between robots and obstacles. This algorithm does not use velocity information of other robots. We also show that the proposed algorithm using such restricted information guarantees similar properties to the existing algorithms on cohesion, velocity matching and collision avoidance in the group. In addition, unlike many previous researches, we demonstrate effectiveness of this algorithm by not only simulations but also experiments. In experiments, since robots don't need to distinguish between other robots and obstacles, laser range finders are used to detect objects around the robot.

Journal

  • Transactions of the Society of Instrument and Control Engineers

    Transactions of the Society of Instrument and Control Engineers 49(8), 787-794, 2013-08-31

    The Society of Instrument and Control Engineers

References:  19

Codes

  • NII Article ID (NAID)
    10031193237
  • NII NACSIS-CAT ID (NCID)
    AN00072392
  • Text Lang
    JPN
  • Article Type
    ART
  • ISSN
    04534654
  • NDL Article ID
    024854356
  • NDL Call No.
    Z14-482
  • Data Source
    CJP  NDL  J-STAGE 
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