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Polygonal obstacle avoidance method for swarm robots via fluid dynamics
https://uec.repo.nii.ac.jp/records/2000112
https://uec.repo.nii.ac.jp/records/20001120bb8df58-52d8-483d-ba71-ef09e32de550
名前 / ファイル | ライセンス | アクション |
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AROB_Journal_shibahara__Copy_.pdf (1.6 MB)
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Item type | 学術雑誌論文 / Journal Article(1) | |||||||||
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公開日 | 2024-05-01 | |||||||||
タイトル | ||||||||||
言語 | en | |||||||||
タイトル | Polygonal obstacle avoidance method for swarm robots via fluid dynamics | |||||||||
言語 | ||||||||||
言語 | eng | |||||||||
キーワード | ||||||||||
言語 | en | |||||||||
主題 | Swarm robots | |||||||||
キーワード | ||||||||||
言語 | en | |||||||||
主題 | Obstacle avoidance | |||||||||
キーワード | ||||||||||
言語 | en | |||||||||
主題 | MPS method | |||||||||
キーワード | ||||||||||
言語 | en | |||||||||
主題 | Polygon-Wall | |||||||||
キーワード | ||||||||||
言語 | en | |||||||||
主題 | Formation control | |||||||||
資源タイプ | ||||||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||||||
資源タイプ | journal article | |||||||||
著者 |
Shibahara, Shotaro
× Shibahara, Shotaro
× Sawada, Kenji
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抄録 | ||||||||||
内容記述タイプ | Abstract | |||||||||
内容記述 | Swarm robots in obstacle environments perform search tasks efficiently while avoiding obstacles. Obstacle avoidance methods are classified by the way obstacles are represented. Potential functions are typical for circular obstacles, while collision cones and polygonal regions are used for non-circular obstacles. The shape of the obstacle this paper considers is angular. When swarm robots try to avoid angular obstacles with potential functions, they require information such as the relative angle between the robot and the obstacle and the size of the obstacle. This paper focuses on the shape parameters of angular obstacles and proposes an easier way to avoid angular obstacles in column formation. The key idea is fluid dynamics. The proposed method is based on a Polygon-Wall expression of MPS (Moving Particle Semi-implicit) method, a fluid dynamics method. The Polygon-Wall expression allows robots to measure the distance from the obstacle wall and avoid the obstacle without using the relative angles and the obstacle sizes. Usual MPS methods have the challenge of requiring centralized computation, while typical swarm robots are based on distributed computation. Therefore, this paper addresses this challenge by introducing potential functions into MPS method. The contribution of this paper is to propose a distributed obstacle avoidance method for angular obstacles with a small number of parameter designs for swarm robots. The results of numerical experiments reflecting these ideas show the effectiveness of the proposed method. | |||||||||
言語 | en | |||||||||
書誌情報 |
en : Artificial Life and Robotics 巻 28, 号 2, p. 435-447, 発行日 2023-05 |
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出版者 | ||||||||||
出版者 | Springer | |||||||||
ISSN | ||||||||||
収録物識別子タイプ | EISSN | |||||||||
収録物識別子 | 1614-7456 | |||||||||
DOI | ||||||||||
関連タイプ | isVersionOf | |||||||||
識別子タイプ | DOI | |||||||||
関連識別子 | 10.1007/s10015-023-00859-x | |||||||||
権利 | ||||||||||
権利情報 | This version of the article has been accepted for publication, after peer review (when applicable) and is subject to Springer Nature’s AM terms of use, but is not the Version of Record and does not reflect post-acceptance improvements, or any corrections. The Version of Record is available online at: http://dx.doi.org/10.1007/s10015-023-00859-x | |||||||||
関連サイト | ||||||||||
識別子タイプ | DOI | |||||||||
関連識別子 | https://doi.org/10.1007/s10015-023-00859-x | |||||||||
著者版フラグ | ||||||||||
出版タイプ | AM | |||||||||
出版タイプResource | http://purl.org/coar/version/c_ab4af688f83e57aa |