Coordination of Multiple Mobile Robots based on Adaptive Cruise Control

人や人が運転する車は,周囲の状況を判断しながら自ら行動 の意思決定を行う.このとき,自身の周りに人や車がなければ それらからの干渉がないため,意図したとおりに行動すること ができる.一方,周りに人や車が多く存在する場合,それらと の干渉が生じるため,行動の結果に違いが見られるようになる. 例えば,人通りや車の交通量が少ない時間帯では,人や車はス ムーズかつ素早く移動することができる.ここで,スムーズな 動きとは,速度の高低ではなくその変化量が少ないことを意味 する.その後,歩道も車道も混雑してくると,渋滞が発生した りあるいはそうでなくとも人や車の流れが悪くなる.一般的に, ある容量の空間や場所に対して,その容量を上回る流入があっ た際,流れに停滞が生じ,これが渋滞となる. 人も車も自律移動ロボットも,行動の意思決定を自らが下す ため,自己駆動粒子(Self-Driven Particles)の一種であると

[1]  Satoshi Hoshino,et al.  Multirobot Coordination for Flexible Batch Manufacturing Systems Experiencing Bottlenecks , 2010, IEEE Transactions on Automation Science and Engineering.

[2]  Dirk Helbing,et al.  Adaptive cruise control design for active congestion avoidance , 2008 .

[3]  Y. Sugiyama,et al.  Traffic jams without bottlenecks—experimental evidence for the physical mechanism of the formation of a jam , 2008 .

[4]  Satoshi Hoshino,et al.  Hybrid Design Methodology and Cost-Effectiveness Evaluation of AGV Transportation Systems , 2007, IEEE Transactions on Automation Science and Engineering.

[5]  Yasuhisa Hasegawa,et al.  Control of Vehicle Cooperative Behavior in Non-Signalized Intersection , 2004, DARS.

[6]  L. Davis.  Effect of adaptive cruise control systems on traffic flow. , 2004, Physical review. E, Statistical, nonlinear, and soft matter physics.

[7]  Azim Eskandarian,et al.  Research advances in intelligent collision avoidance and adaptive cruise control , 2003, IEEE Trans. Intell. Transp. Syst..

[8]  B. Kerner.  Empirical macroscopic features of spatial-temporal traffic patterns at highway bottlenecks. , 2002, Physical review. E, Statistical, nonlinear, and soft matter physics.

[9]  Huei Peng,et al.  String stability analysis of adaptive cruise controlled vehicles , 2000 .

[10]  Atsuya Uno,et al.  A merging control algorithm based on inter-vehicle communication , 1999, Proceedings 199 IEEE/IEEJ/JSAI International Conference on Intelligent Transportation Systems (Cat. No.99TH8383).

[11]  Huei Peng,et al.  Optimal Adaptive Cruise Control with Guaranteed String Stability , 1999 .

[12]  Nakayama,et al.  Dynamical model of traffic congestion and numerical simulation. , 1995, Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics.

[13]  Kerner,et al.  Cluster effect in initially homogeneous traffic flow. , 1993, Physical review. E, Statistical physics, plasmas, fluids, and related interdisciplinary topics.

[14]  Petros A. Ioannou,et al.  Autonomous intelligent cruise control , 1993 .