Realization of autonomous navigation in multirobot environment

摘要

In this paper, we discuss autonomous navigation in multirobot environment based on local communication. To carry out cooperative tasks using multiple autonomous robots, navigation systems should be implemented to the robots because mutual alignment of their positions and collision avoidance to each other become important. Therefore, it seems a collision avoidance and a self-localization are indispensable as elemental techniques for the navigation. Although these techniques need to recognize situation of robots surrounding environment, conventional devices to acquire information around them can not work sufficiently in such environment. For this problem, we propose techniques based on the local communication and the navigation system by combining them for multirobot environment. It is shown that robots can arrive their goal precisely without collision among them through proposed navigation systems.