Cooperative Passing Based on Chaos Theory for Multiple Robot Swarms

Author:

Yamagishi Kohei1,Suzuki Tsuyoshi1

Affiliation:

1. Tokyo Denki University, 5 Senju Asahi-cho, Adachi-ku, Tokyo 120-8551, Japan

Abstract

Swarm robotics can cooperatively perform large, multiple tasks by controlling a swarm composed of many robots. Currently, approaches for operating multiple robot swarms are being studied for further evolution of this system. This study addresses a multiple movement task in which robot swarms move collectively in the same environment. In this task, the movement paths of robot swarms must pass each other in a cooperative manner when they intersect. The robots in this system behave under autonomous distributed control, thus must consider a passing behavior suitable for their own situation. This study proposes a turning behavior based on the chaos theory to ensure that a robot swarm avoids other approaching robot swarms. Each robot swarm applying the proposed method passes other swarms while autonomously deciding its turning direction and continuing its own collective movement task. In addition, the decision making based on the chaos theory predicts future values according to the current value. Therefore, it is expected to be useful for task scheduling. The performance of multiple robots passing each other is evaluated with the proposed method using numerical simulations. This performance shows that the robot swarms can avoid each other without collision using the closest inter-robot distance as the evaluation metric. Finally, robot swarms with varying shapes and scales complete their own movements in an environment where these movement paths intersect at a single point.

Publisher

Fuji Technology Press Ltd.

Subject

Electrical and Electronic Engineering,General Computer Science

Cited by 2 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3