Environment Recognition and Path Planning by Multiple Mobile Robots
Toshiyuki Kumaki*, Masahito Nakajima** and Masayoshi Kakikura*
*Tokyo Denki University, 2-2 Nishikicho, Kanda, Chiyoda-ku, Tokyo 101, Japan
**National Center for Science Information Systems, 3-29-1 Otuka, Bunkyo-ku, Tokyo 112, Japan
This article, concerned with a part of the research on distributed coordination work by multiple robots, discusses an algorithm for creating maps of unknown environments which are searched for and observed by multiple mobile robots, and on the results of a simulation experiment using this algorithm. This algorithm comprises a moving method, an observation method, and a task planning method which are intended to help the multiple mobile robots carry out an efficient search of unknown environments.