Object Transportation by Swarm Robots Based on Constraint Granular Convection
Object Transportation by Swarm Robots Based on Constraint Granular Convection
复制标题
基于约束粒状对流的群体机器人物体运输
DOI：
10.1007/978-3-030-05816-6_23
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
Sugawara Ken
中科院分区：
文献类型：
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作者：
菅原研;木村葉月;菅原研;Sugawara Ken
在本文中，我们提出了一种基于颗粒对流的群体机器人的物体运输的研究。我们特别关注在不同尺寸颗粒的混合物中观察到的分离现象，并将其特性应用于设计将物体运送到目的地的系统。该系统中的机器人仅由随机力、目的地施加的恒定力和作为约束的固定点施加的弹簧力的组合驱动。该物体是被动的，仅由机器人的碰撞驱动。虽然没有一个机器人具有检测目标物体和其他机器人的特殊装置，但物体被递送到目的地。在本文中，我们首先解释的基本特征的行为的一个系统的基础上的机器人群体没有约束。然后，我们解释了同一系统的约束行为。结果如下。(1)无约束的机器人群体适当地运输对象时，由目的地施加的恒定的排斥力被添加;相反，有约束的群体运输对象时，由目的地施加的恒定的吸引力被添加。(2)物体的运动速度与其尺寸有关，尤其是在有约束的系统中。(3)机器人的密度越高，物体移动到目的地的速度就越快，特别是在没有约束的系统中。
In this paper, we present a study on object transportation by swarm robots based on granular convection. We especially focused on the segregation phenomenon observed in a mixture of different size particles and applied its characteristics to design a system for carrying an object to its destination. The robot in this system is driven only by a combination of random force, a constant force exerted by the destination, and a spring force exerted by fixed points that operates as a constraint. The object is passive and driven only by the collision of the robots. Although none of the robots has a special device that detects the target object and other robots, the object is delivered to the destination. In this paper, we first explain the fundamental characteristics of the behavior of a system based on a robotic swarm without constraint. Then, we explain the behavior of the same system with constraint. The results are as follows. (1) The robotic swarm without constraint transports the object appropriately when a constant repulsive force exerted by the destination is added; in contrast, the swarm with constraint transports the object when a constant attractive force exerted by the destination is added. (2) The traveling speed of the object is related to its size, especially in the system with constraint. (3) The higher the density of the robots, the faster the object is moved to the destination, especially in the system without constraint.