Flexibility Evaluation of Action Control Rule for Autonomous Multiple Mobile Robots Based on Decision-Making Function for Panel Cruising Problem

This paper describes the action control rules of each robot in a multiple mobile robot system for the panel cruising problem. To achieve a task by a multiple mobile robot system, it is important to decide the action control rules to avoid collision among the robots. We propose action control rules based on an evaluation function to decide the moving direction. To confirm the flexibility of the proposed action control rules, we focus on the evenness of panel points, which are passing counts to panels, and the energy consumption as the task efficiency. Moreover, we discuss the task efficiency for several workspaces and numbers of robots by comparison of the proposed rule with a simpler rule based on only the panel points.

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