Proposal of an integrated model of attractive pheromone and evasive pheromone and its application to large-scale swarm robots

2015 Fiscal Year Final Research Report

• Project/Area Number: 26870806
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Intelligent informatics; Soft computing
• Research Institution: Tomakomai National College of Technology
• Principal Investigator: DOI Shigeo 苫小牧工業高等専門学校, その他部局等, 准教授 (70465912)
• Project Period (FY): 2014-04-01 – 2016-03-31
• Keywords: Ant Colont System / マルチエージェント / フェロモン / 自律分散

Outline of Final Research Achievements

When we control autonomous and distributed robots, we developed a model to control the robots using indirect communication with each other through information in correspondence of field. In this study, the field is defined as an undirected graph.
A node corresponds to the point where the robots visit and a link between two nodes corresponds to the relation on which a robot can move. A robot determines a next node to move using the field information.
When we used an evasive pheromone model, we got better results with consideration with degree of each next node rather than without. In addition, we developed a method to compute attractive pheromone or evasive pheromone through one field information and confirmed the behavior through computer simulations.

Free Research Field

知能情報学