Methodology for Solving Congestion Formed by Multiple Mobile Robots : Development of Intelligent Cruise Control Technique and Behavior Rule

人が運転する自動車や自律移動ロボットなど,自らの行動に 関して意思決定を行うことができる移動体(自己駆動粒子:Selfdriven particles)が群れとしてシステム内を一方向に動く際, 例えば信号などの移動や流れを妨げるボトルネックが存在しな くとも,システムに対する移動体の数,すなわち占有密度が増 すにつれ,移動体による渋滞が形成される.またこの渋滞は, 群れの移動とは逆方向に拡大あるいは遷移する.この物理現象 は,すでに数学的に定式化および証明されている [1] [2].西成ら は,周回コース上で自動車の走行実験を行い,ボトルネックが なくとも渋滞が自然に形成され,これが拡大・遷移することを 示している [3].また,渋滞が形成されるプロセスを,自動車の 挙動変化に着目して解析している [4].一方ボトルネックがある 場合,例えばロボットを用いた多品種生産システムでは,ロボッ トの台数や密度に応じて渋滞がより顕著に作業場所などのボト ルネック部分に発生する [5].そしてこの渋滞は,ボトルネック

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