ロボットを介した被覆制御に基づく人の密回避

カテゴリ: 論文誌(論文単位)

グループ名: 【C】電子・情報・システム部門

発行日: 2022/09/01

タイトル(英語): Human Dense Avoidance Based on A Coverage Control through Robots

著者名: 盛田　修（富山県立大学大学院工学研究科），大倉　裕貴（富山県立大学工学部），小島　千昭（富山県立大学工学部）

著者名(英語): Shu Morita (Graduate School of Engineering, Toyama Prefectural University), Yuki Okura (Faculty of Engineering, Toyama Prefectural University), Chiaki Kojima (Faculty of Engineering, Toyama Prefectural University)

キーワード: マルチエージェントシステム，自律移動ロボット，被覆制御，分散協調制御_x000D_　　multi-agent systems，autonomous robots，coverage control，distributed cooperative control

要約(英語): In this paper, we propose an efficient method for human dense avoidance based on a coverage control. Our motivation is to avoid crowding in public facilities such as stations and government offices, and human dense in the current situation of COVID-19 from system and control theory. In this paper, humans and robots are modelled as heterogeneous and homogeneous agents, respectively, which make decisions based on their local information. We suppose a dense situation caused by the rendezvous among humans due to their own inherent dynamics. As a main result, we propose a coverage control for a distributed movement of multiple humans. We also characterize the stationary point analytically in terms of the the gains which describe a strength of the interconnection of the agents, and the centers of the Voronoi regions related to the agents. Moreover, we verify the meaning of the characterization from an engineering viewpoint of the dense avoidance. Finally, we show the efficiency of the method based on a numerical simulation.

本誌: 電気学会論文誌C（電子・情報・システム部門誌） Vol.142 No.9 （2022） 特集：知能メカトロニクス分野と連携する知覚情報技術

本誌掲載ページ: 1031-1040 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejeiss/142/9/142_1031/_article/-char/ja/