数は力：未知環境における群ロボットナビゲーションのための原始アルゴリズム
Power in Numbers: Primitive Algorithm for Swarm Robot Navigation in Unknown Environments
未知環境を群ロボットの数と簡単な局所ルールだけでナビゲートする手法を提案し、数理検証・シミュレーション・実機実験で有効性を示した。
著者: Yusuke Tsunoda, Shoken Otsuka, Kazuki Ito, Runze Xiao, Keisuke Naniwa, Yuichiro Sueoka, Koichi Osuka
分類: cs.RO
原文アブストラクト
Recently, the navigation of mobile robots in unknown environments has become a particularly significant research topic. Previous studies have primarily employed real-time environmental mapping using cameras and LiDAR, along with self-localization and path generation based on those maps. Additionally, there is research on Sim-to-Real transfer, where robots acquire behaviors through pre-trained reinforcement learning and apply these learned actions in real-world navigation. However, strictly the observe action and modelling of unknown environments that change unpredictably over time with accuracy and precision is an extremely complex endeavor. This study proposes a simple navigation algorithm for traversing unknown environments by utilizes the number of swarm robots. The proposed algorithm assumes that the robot has only the simple function of sensing the direction of the goal and the relative positions of the surrounding robots. The robots can navigate an unknown environment by simply continuing towards the goal while bypassing surrounding robots. The method does not need to sense the environment, determine whether they or other robots are stuck, or do the complicated inter-robot communication. We mathematically validate the proposed navigation algorithm, present numerical simulations based on the potential field method, and conduct experimental demonstrations using developed robots based on the sound fields for navigation.
