Adaptive formation behaviors of multi-robot for cooperative exploration

Yutaka Yasuda, Naoyuki Kubota, Yuichiro Toda

研究成果

9 被引用数 (Scopus)

抄録

This paper proposes a method for constituting the formation of a multi-robot system according to dynamically changing environments. First, we apply a method of multi-objective behavior coordination for integrating behavior outputs from the fuzzy control for collision avoidance and target tracing. Second, we apply a spring model to calculate the temporary target position of each robot for the formation behavior. Third, we discuss multi-robot behaviors based on the concept of coupling. The tight coupling is realized by the spring model while the loose coupling is realized by the individual decision making based on connection and disconnection with other robots. Furthermore, the proposed method is applied to the exploration in unknown environments. Finally, we discuss the effectiveness of the proposed method through several simulation results.

本文言語English
ホスト出版物のタイトル2012 IEEE International Conference on Fuzzy Systems, FUZZ 2012
DOI
出版ステータスPublished - 2012
外部発表はい
イベント2012 IEEE International Conference on Fuzzy Systems, FUZZ 2012 - Brisbane, QLD
継続期間: 6月 10 20126月 15 2012

出版物シリーズ

名前IEEE International Conference on Fuzzy Systems
ISSN(印刷版)1098-7584

Other

Other2012 IEEE International Conference on Fuzzy Systems, FUZZ 2012
国/地域Australia
CityBrisbane, QLD
Period6/10/126/15/12

ASJC Scopus subject areas

  • ソフトウェア
  • 理論的コンピュータサイエンス
  • 人工知能
  • 応用数学

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