Proceeding of IEEE International Conference on Robotics and Biomimetics
巻, 号, ページ
pp. 2001-2006
出版年月
2009年2月
出版者
和文:
英文:
IEEE
会議名称
和文:
英文:
IEEE International Conference on Robotics and Biomimetics
開催地
和文:
英文:
Bangkok, Thailand
アブストラクト
We propose an algorithm for adaptive formation
transitions of a robot group composing autonomous, nonlabeled
robots. In the proposed system, one leader robot that knows the
target position guides the other robots; the other robots do not
have any global information. Each individual robot is equipped
with a nonlinear oscillator and a simple communication system
realized by LED flashlights and photodetectors. In order to
control these robots, we have used phase gradients and phase
waves in a manner similar to that of a slime mold (amoeba).
By controlling only the leader robot, we can generate and
erase a phase gradient. We propose an algorithm to control the
heading directions of the follower robots according to the phase
gradients. By using this algorithm, a robot group can change
its formation adaptively in an obstacle region. The algorithm
enables the robots to move in a tight formation in free space
and dissolve this formation in obstacle regions in order to avoid
deadlocks. We have not only formulated the algorithm but also
developed real hardware and analyzed the system design. We
have verified the proposed system by simulations and by real
implementations of 12 autonomous mobile robots.
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