2009 Fiscal Year Final Research Report
Networking and Motion Control of Swarm Robots
| Project/Area Number |
19360177
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Communication/Network engineering
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| Research Institution | Osaka City University |
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Principal Investigator |
HARA Shinsuke Osaka City University, 大学院・工学研究科, 教授 (80228618)
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| Co-Investigator(Kenkyū-buntansha) |
SUGIYAMA Hisayoshi 大阪市立大学, 大学院・工学研究科, 准教授 (20264799)
TSUJIOKA Tetsuo 大阪市立大学, 大学院・工学研究科, 講師 (40326252)
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| Project Period (FY) |
2007 – 2009
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| Keywords | 群ロボット / ネットワーキング / 行動制御 / 共通座標生成 / 方向推定 / 位置推定 / 無線電力測定 / 無線伝搬特性 |
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| Research Abstract |
For a robot swarm composed of many wirelessly networked robots, a method is proposed to autonomously generate a single set of common coordinates among the robots and to notify each robot of its location and heading direction in the coordinates. The proposed method is developed through theoretical analyses and computer simulations, and then after assembling an experimental robot swarm composed of thirty robots, it is finally validated by experiments with the robot swarm.
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