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Title
Japanese:位相振動子を用いた回頭制御によるロボット群の狭領域通過 
English: 
Author
Japanese: 張辰樹, 倉林大輔, 程家, 舩戸徹郎.  
English: Tatsuki CHOH, Daisuke Kurabayashi, Ka Tei, Tetsuro Funato.  
Language Japanese 
Journal/Book name
Japanese:第２０回自律分散システム・シンポジウム資料 
English: 
Volume, Number, Page         pp. 63-68
Published date Jan. 2008 
Publisher
Japanese:計測自動制御学会 
English: 
Conference name
Japanese:第２０回自律分散システム・シンポジウム 
English: 
Conference site
Japanese:諏訪，長野 
English: 
Official URL http://roboken.ks.suwa.tus.ac.jp/das/
 
Abstract In these days, the multi-robot system has been attactive to many researchers because of its high efficiency for some tasks. When we want to use the system, a method for moving the robots to a desired point on an environment which has obstacles or narrow space is needed. In this study, we prpose an algorithm for the passage of a group consisting of many robots through a narrow space. For the purpose, each robot has a phase oscillator, and they make the phase gradient. Then, they decide their heading direction using information of the phase of the oscillator. We can switch the property of the group of the robots to adapt to the environment by changing leader robot's frequency. We considered the condition for making phase gradient, and demonstrated the effectiveness of the proposed system by simulations and experiments.

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