フェロモン場を用いて誘引を行うロボット群の開発  [in Japanese] Development of Multi-robots Communicating by Pheromone Trail  [in Japanese]

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Abstract

蟻は,フェロモン・トレイルを用いて採餌することが知られている.フェロモン・トレイルとは,餌と巣の間に敷設されたフェロモンの道のことである.蟻はフェロモンを用いて環境に情報を付加することによって他の蟻とのコミュニケーションを図っている.フェロモン・トレイルを用いたコミュニケーションは,化学・可塑・間接・局所的な特徴を有する.本研究では,ロボット群のコミュニケーション手段としてフェロモンを用いたコミュニケーションを提案する.我々は蟻の振舞いに基づいてフェロモンを用いる行動アルゴリズムを提案し,そのアルゴリズムの妥当性とフェロモン・トレイルを用いたコミュニケーション方法の有効性を検証するため,計算機シミュレーションによりその妥当性を検証し,群ロボットを開発した.実機実験結果から,フェロモン・トレイルを敷設し複数回にわたって強化 (フェロモン・トレイルを再敷設) する行動が観測された.この事実は,フェロモンを用いたコミュニケーション方法が有効に働いたことを意味する.The ants forage about preys by using pheromone trails. They lay down the pheromone trails between preys and a nest. By detecting the pheromone trail, they can find the preys. Though they do not have excellent intelligence, they can communicate and cooperate with each other by appending information to the environment. This communication method has a merit that an agent does not need to memorize the place of the preys. We consider the problem that "How do the swarm robots communicate using the pheromone trail?". We design a swarm behavior algorithm by using features of the pheromone trail communication, based on 4 perceptual cues (stimulus) and 3 effector cues (action). We demonstrate the effectiveness of the communication with the pheromone trail by computer simulations and experiments. From the simulation results, we can find the effectiveness of the proposed behavior algorithm. In experiments, we set robots, a nest and a prey in the flat test experimental field. We observe robots' behavior and the state of the environment for 20 minutes. The robots laid down the pheromone trail between the nest and the prey, and reinforced it many times. This fact means that swarm robots can realize the function of the chemical, indirect, plastic and local communication like ants by using pheromone trail.

The ants forage about preys by using pheromone trails. They lay down the pheromone trails between preys and a nest. By detecting the pheromone trail, they can find the preys. Though they do not have excellent intelligence, they can communicate and cooperate with each other by appending information to the environment. We consider the problem that "How do the swarm robots communicate using the pheromone trail?". We demonstrate the effectiveness of the communication with the pheromone trail by computer simulations and experiments. From the simulation results, we can find the effectiveness of the proposed behavior algorithm. In experiments, we set robots, a nest and a prey in the flat test experimental field. We observe robots' behavior and the state of the environment for 20 minutes. The robots laid down the pheromone trail between the nest and the prey, and reinforced it many times. This fact means that swarm robots can realize the function of the chemical, indirect, plastic and local communication like ants by using pheromone trail.; title Development of Multi-Robots Communicating by Pheromone Trail

Journal

  • 情報処理学会論文誌数理モデル化と応用(TOM)

    情報処理学会論文誌数理モデル化と応用(TOM) 2(2), 80-91, 2009-03-27

    情報処理学会

Cited by:  2

Codes

  • NII Article ID (NAID)
    110007989930
  • NII NACSIS-CAT ID (NCID)
    AA11464803
  • Text Lang
    JPN
  • Article Type
    Journal Article
  • ISSN
    1882-7780
  • NDL Article ID
    024326006
  • NDL Call No.
    YH247-812
  • Data Source
    CJPref  NDL  NII-ELS  IR  IPSJ 
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