Study of efficient control of multi-robot system with evolutionary computation and neural network
| Project/Area Number |
23510178
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Social systems engineering/Safety system
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| Research Institution | Nippon Institute of Technology |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
TSUJIMURA Yasuhiro 日本工業大学, 工学部, 教授 (80240977)
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| Project Period (FY) |
2011-04-28 – 2015-03-31
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| Project Status |
Completed (Fiscal Year 2014)
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| Budget Amount *help |
¥4,550,000 (Direct Cost: ¥3,500,000、Indirect Cost: ¥1,050,000)
Fiscal Year 2013: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2012: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2011: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
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| Keywords | 群ロボット / 未知領域探査 / 最短経路 / 未知領域の被覆問題 / 被覆アルゴリズム / マルチエージェント / 協調制御 / 移動エージェント |
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| Outline of Final Research Achievements |
We developed the cooperative multi-robot control method for covering a unknown-structured fields by using computer simulation techniques. In order to recognize and avoid obstacles while each robot is moving, we devised the algorithm utilize the visual information from the camera on each robot.
We also proposed the method that the robots cooperatively collect the knowledge of the field and draw the map that is shared by the robots to proceed with the coverage task. We evaluated the ability of the method by using various numbers of robots and various structures of fields in which many types of obstacles are allocated.
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Report
(5 results)
Research Products
(8 results)
