A Method of Cooperative Task Assignment by Multiple Autonomous Robots Based on Decentralized Management Using Communication.

摘要

As one of problems that occur when multiple autonomous robots act in a common environment, task assignment is discussed in this paper. There are two patterns in terms of action of multiple-robots. Namely, one is parallel, individual action, and another is cooperative action. Object pushing problem is taken as a typical task, where both of patterns of action are necessary. At first, a method of decentralized management of situation of tasks and robots using communication is proposed. Then, algorithm for robots to process tasks related to the situation based on the managed information is developed. Finally, a simulation system for object pushing tasks and a wireless communication system between the simulators are developed. As a result of experiments using the simulation system, the tasks are processed by robots cooperatively, and the proposed method is verified. In addition, the efficiency by parallel action and the executability of high-level tasks by cooperative action are proved.