| Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2020: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2019: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2018: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Outline of Final Research Achievements |
I have studied on decentralized control of multiple mobile robots in obstacle environments while preserving the connectivity of the sensing network without data transmission through a wireless network, under the assumption that only one robot is given a target path of the group. A new control method was proposed to overcome limitations of the previous methods, such as deadlocks in extremely dense obstacle environments and the slow vibratory movements of robots. Furthermore, a control algorithm for 3D environments was proposed to apply groups of UAVs. The effectiveness of the proposed methods were verified in simulations and experiments.
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