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Implicit navigation for swarm robots based on the "Field" control

Research Project

Project/Area Number 15H06360
Research Category

Grant-in-Aid for Research Activity Start-up

Allocation TypeSingle-year Grants
Research Field Control engineering/System engineering
Research InstitutionOsaka University

Principal Investigator

Sueoka Yuichiro  大阪大学, 工学研究科, 助教 (50756509)

Project Period (FY) 2015-08-28 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
Budget Amount *help
¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2016: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2015: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Keywords陰的誘導 / 場の制御 / 群ロボット / ナビゲーション / 場 / 誘導 / 自律分散 / 制御
Outline of Final Research Achievements

This research focuses on the robot navigation based on the "Field" control. First, we conducted simulations in order to analyze the creation method for navigation field. In the real world, we prepared sound devices and challenged to manipulate the robot movement based on the sound field. After designing a robot's algorithm and a sound field, we found that mobile robots succeeded in a goal-navigation task by habituating appropriately the robot to the sound. Moreover, we achieved the obstacles avoidance task based on the same robot controller, which indicates that the obstacle implicitly made a potential field to navigate a robot. Finally, we succeeded in a wide-range navigation task by using multiple speaker devices.

Report

(3 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Annual Research Report
  • Research Products

    (12 results)

All 2017 2016 2015

All Presentation (12 results) (of which Int'l Joint Research: 3 results,  Invited: 1 results)

  • [Presentation] 音場に基づくロボットナビゲーション2017

    • Author(s)
      角田祐輔,末岡裕一郎,高橋良輔,枝知樹,大須賀公一
    • Organizer
      平成28年度計測自動制御学会関西支部若手研究発表会
    • Place of Presentation
      大阪大学吹田キャンパス
    • Year and Date
      2017-01-13
    • Related Report
      2016 Annual Research Report
  • [Presentation] 群システムにおける自己位置推定法”みなし”の提案2016

    • Author(s)
      高橋良輔,末岡裕一郎,杉本靖博,大須賀公一
    • Organizer
      SI2016
    • Place of Presentation
      札幌コンベンションセンター
    • Year and Date
      2016-12-15
    • Related Report
      2016 Annual Research Report
  • [Presentation] On heterogeneity in foraging by ant-like colony: how local affects global and vice versa2016

    • Author(s)
      Yuichiro Sueoka, Kazuki Nakayama, Masato Ishikawa, Yasuhiro Sugimoto, Koichi Osuka
    • Organizer
      ANTS2016
    • Place of Presentation
      University Libre de Bruxelles
    • Year and Date
      2016-09-07
    • Related Report
      2016 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 群れの多彩な振る舞いを実現するシンプルな数理モデルの探求2016

    • Author(s)
      佐藤裕斗,末岡裕一郎,石川将人,大須賀公一
    • Organizer
      ROBOMECH2016
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2016-06-09
    • Related Report
      2016 Annual Research Report
  • [Presentation] 音場の制御に基づく群れ行動の実現2016

    • Author(s)
      角田祐輔,末岡裕一郎,近藤鈴華,杉本靖博,大須賀公一
    • Organizer
      ROBOMECH2016
    • Place of Presentation
      パシフィコ横浜
    • Year and Date
      2016-06-09
    • Related Report
      2016 Annual Research Report
  • [Presentation] シロアリに着想を得た自律分散移動体による構造物形成の解析2016

    • Author(s)
      末岡 裕一郎,久保田 恒平,石川 将人,杉本 靖博,大須賀 公一
    • Organizer
      第28回自律分散システムシンポジウム
    • Place of Presentation
      広島
    • Year and Date
      2016-01-21
    • Related Report
      2015 Annual Research Report
  • [Presentation] RSSI場に基づく群れの行動制御の基礎実験2016

    • Author(s)
      近藤 鈴華,末岡 裕一郎,角田 祐輔,杉本 靖博,大須賀 公一
    • Organizer
      計測自動制御学会関西支部・システム制御情報学会若手研究発表会
    • Place of Presentation
      大阪
    • Year and Date
      2016-01-08
    • Related Report
      2015 Annual Research Report
  • [Presentation] “Mi-Nashi” Localizationにおける位置情報のゆらぎが与える影響の解析2015

    • Author(s)
      角田 祐輔,末岡 裕一郎,近藤 鈴華,杉本 靖博.大須賀 公一
    • Organizer
      第16回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      名古屋
    • Year and Date
      2015-12-14
    • Related Report
      2015 Annual Research Report
  • [Presentation] 群れ行動を実現する数理モデルの構築とその誘導メカニズムの解析2015

    • Author(s)
      佐藤 裕斗,末岡 裕一郎,久保田 恒平,石川 将人,大須賀 公一
    • Organizer
      第16回計測自動制御学会システムインテグレーション部門講演会
    • Place of Presentation
      名古屋
    • Year and Date
      2015-12-14
    • Related Report
      2015 Annual Research Report
  • [Presentation] 群れによる分散的パターン形成の制御 -Swarm Mechanicsの探求-2015

    • Author(s)
      末岡 裕一郎
    • Organizer
      第3回ブレインウェア工学研究会
    • Place of Presentation
      仙台
    • Year and Date
      2015-12-10
    • Related Report
      2015 Annual Research Report
    • Invited
  • [Presentation] Towards exploration of pheromone effect in object pattern formation2015

    • Author(s)
      Kohei Kubota, Yuichiro Sueoka, Yasuhiro Sugimoto, Masato Ishikawa, Koichi Osuka
    • Organizer
      2015 International Symposium on Nonlinear Theory and its Applications (NOLTA2015)
    • Place of Presentation
      香港
    • Year and Date
      2015-12-01
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Analysis of flock guidance based on the vector field representation2015

    • Author(s)
      Yuto Sato, Yuichiro Sueoka, Yasuhiro Sugimoto, Masato Ishikawa, Koichi Osuka
    • Organizer
      The First International Symposium on Swarm Behavior and Bio-Inspired Robotics workshop
    • Place of Presentation
      京都
    • Year and Date
      2015-10-28
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research

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Published: 2015-08-26   Modified: 2018-03-22  

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