2016 Fiscal Year Final Research Report
Implicit navigation for swarm robots based on the "Field" control
| Project/Area Number |
15H06360
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Single-year Grants |
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| Research Field |
Control engineering/System engineering
|
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| Research Institution | Osaka University |
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Principal Investigator |
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| Project Period (FY) |
2015-08-28 – 2017-03-31
|
| Keywords | 陰的誘導 / 場の制御 / 群ロボット / ナビゲーション |
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| 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.
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| Free Research Field |
制御工学
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