著者
稲原 大翔 元井 直樹
出版者
一般社団法人 電気学会
雑誌
電気学会論文誌D(産業応用部門誌) (ISSN:09136339)
巻号頁・発行日
vol.142, no.2, pp.86-94, 2022-02-01 (Released:2022-02-01)
参考文献数
27

This paper proposes a search algorithm using particle swarm optimization (PSO) with virtual pheromone for swarm robots. Swarm robots are attracting attention in disaster relief works to search for victims. The search algorithm involves a combination of global and local searching. The conventional search method consists of random walk as the global search and PSO as the local search. However, random walk is not efficient in complex environments. For efficient searching, PSO with virtual pheromone is used for the global search. The virtual pheromone drives the swarm robots to an unsearched area, dose not need map data, and has low calculation cost. In addition, it is not necessary in the proposed method to switch algorithms between global and local searching. The validity of the proposed method was confirmed from the simulation results.

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移動ロボット群の広域探索と狭域探索の双方を両立した位置制御のため,過去の探索箇所を仮想フェロモンとして一定期間保持する粒子群最適化手法を提案した論文。ランダムウォークベースの手法に比べて,複雑な障害物環境において探索時間を短縮。 https://t.co/dGRxfvE2Da

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