Cooperative Control Method for Autonomous Mobile Robots Using Self and Group Evaluation(Mechanical Systems)
Hikari FUJII, Masayuki KATO, Masaki TAKAHASHI · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 2010
This paper presents a cooperative control method for a multi-agent robot system. The concept of the method is based on evaluation information on an objective of multi-agent system. Robots communicate self-evaluation information on the objective each other. Each robot calculates global evaluation information using shared self-evaluation information of whole robot. The method enables robots to perform flexible cooperation in dynamic environment. Its usefulness is verified by applying the method to the soccer playing robots for the middle size league of RoboCup. It was confirmed that the effective and flexible cooperative behavior among the heterogeneous soccer robots are realized with proposed method.