GS3-6୳ࡧ໰୊ʹ͓͚ΔεϫʔϜϩϘοτωοτϫʔΫͷ࿈݁ੑʹؔ͢Δ࣮‫ূݕػ‬˓੢‫ߊޱ‬ԝ ยా‫ت‬ষ ৿࿬࿨໵ ౉น྄հʢઁೆେʣ֓ཁϚϧνϗοϓʹΑΔແઢ௨৴ωοτϫʔΫΛ༻͍ͨ৔߹ɼͦͷ৘ใΛத‫͢ܧ‬ΔͨΊʹ͸λʔήοτΛൃ‫ͨ͠ݟ‬ϩϘοτ͔Β‫ج‬஍‫Ͱ·ہ‬ͷແઢ௨৴ωοτϫʔΫ͕࿈݁͞Ε͍ͯΔඞཁ͕͋Δɽͦ͜Ͱຊ‫Ͱڀݚ‬͸ɼզʑͷ‫ڀݚ‬άϧʔϓͰߦ͍ͬͯΔ਺஋࣮‫ʹݧ‬ΑͬͯಘΒΕͨɼ࿈݁ੑΛҡ࣋͢Δͷʹඞཁͳ৚݅Λ࣮‫ʹݧ࣮ػ‬Αͬͯ‫͢ূݕ‬ΔɽΩʔϫʔυ: εϫʔϜϩϘςΟΫεɼࣗ཯ϩϘοτɼແઢ௨৴ ɼ࿈݁ੑ1͸͡ΊʹΔɽλΠϚ͕ 7 ඵҎ্ͷ࣌ʹ͸λΠϚΛ 0 ʹηοτ͢Δɽͭ͗ʹλΠϚ͕ 2 ඵҎ্ɼ7 ඵະຬͷ࣌ʹ͸ϩϘο
τ͸લਐ͢Δɽ͞Βʹো֐෺Λൃ‫ʹ࣌ͨ͠ݟ‬͸ճస͔ͯ͠ΒϩϘοτ͸ɼਐߦํ޲ΛೖΕସ͑ΔɽҎ্ͷಈ͖Λ‫܁‬Γฦ͢ɽϚϧνϩϘοτͷதͰ΋ಛʹɼεϫʔϜϩϘςΟΫε (SR) ͱΑ͹ΕΔ෼໺ 1) ͕ۙ೥ɼ‫ٸ‬଎ʹ஫໨ΛूΊΔΑ͏ʹͳ͖͍ͬͯͯΔɽͦͷதͰ΋ Sahin Β 2) ͸୯ҰϩϘοτͰ͸໰୊ղܾ͕ࠔ೉΋͘͠͸ඇޮ཰ͳλεΫʹରͯ͠ɼߏ଄͕؆୯Ͱ҆ՁʹߏஙͰ੍͖‫ثޚ‬Λ‫ؚ‬Ίͯ‫׬‬શʹ‫཯ࣗͳ࣭ۉ‬ϩϘοτʢγϛϡϨʔγϣϯͰ͸ͳ࣮͘‫ػ‬ʣΛଟ਺ʢ࠷௿Ͱ΋ 10-20 ୆ʣ༻͍ͯղܾࡦΛఏࣔ͢Δͱ͍͏ΞϓϩʔνΛͱ͍ͬͯΔɽ͜ͷΞϓϩʔνͰ͸େҬత৘ใΛऩू֤ͯ͠ϩϘοτʹࢦࣔΛग़͢‫؂‬ಜతͳΤʔδΣϯτͷଘࡏΛલఏͱ͠ͳ͍ͨΊɼ݁Ռͱͯ͠ɼεϫʔϜͷ‫܈‬Εߦಈ͸֤ϩϘοτͷ‫ॴہ‬త૬‫͔༻࡞ޓ‬Βඞͣ૑ൃతʹੜ੒͞ΕΔ͜ͱʹͳΔɽ্ड़ͷઃ‫ܭ‬ཧ೦ʹै͏ͱɼ੍‫ثޚ‬Λ‫ؚ‬Ίͯ‫Ͱ࣭ۉ‬͋Δ͜ͱ͕๬·͍͠ɽ‫͋Ͱ࣭ۉ‬Γͳ͕Βɼ‫ݸ‬ʑͷϩϘοτʹଟ༷ͳɼ࣌ͱͯ͠໾ׂ෼୲తͳৼ෣͍Λࣔ͢͜ͱ͕ཁ‫͞ٻ‬ΕΔɽແઢωοτϫʔΫʹΑͬͯ௨৴Մೳͳෳ਺ϩϘοτΛ༻͍ͯλʔήοτͷ୳ࡧΛߦ͍ɼͦͷ৘ใΛ‫ج‬஍‫ہ‬ʹૹ৴͢ΔλεΫΛߟ͑ͨ৔߹ɼλʔήοτΛ‫ݕ‬ग़ͨ͠ϩϘοτ͔Β‫ج‬஍‫Ͱ·ہ‬͸ແઢωοτϫʔΫʹΑͬͯʮ࿈݁ʯ͞Ε͍ͯΔඞཁ͕͋Δɽͦ͜Ͱզʑͷ‫ڀݚ‬άϧʔϓ͸ɼ࿈݁ੑΛอূ͢ΔϩϘοτͷ୆਺ͱແઢͷ௨৴‫཭ڑ‬Λ਺஋࣮‫ʹݧ‬ΑΓࢉग़ͨ͠ 4) ɽจ‫ ݙ‬4) ͷ݁Ռʹै͏ͱɼγϛϡϨʔγϣϯͰ͸࿈݁ੑ͕Α͘อͨΕΔ͜ͱ͕֬ೝ͞Ε͍ͯΔɽͦ͜ͰɼຊߘͰ͸্ड़ͷSR ʹΑΓߏ੒͞ΕΔແઢωοτϫʔΫ (Ҏ߱ɼSR ωοτϫʔΫͱΑͿ) ͷ࣮‫ʹػ‬ΑΔ࿈݁ੑͷ࣮ূ࣮‫ͭʹݧ‬͍ͯड़΂Δɽ

2Fig. 1: Flowchart for number of connected robots
without immediate return to the previous position
2.3࣮‫ݧ‬จ‫ ݙ‬5) ΛࢀߟʹɼFig.3 ʹࣔ͢খ‫ܕྠंܕ‬ҠಈϩϘοτʹແઢ௨৴૷ஔΛ࣮૷ͨ͠ɽ͜ͷແઢ૷ஔ͸Ϛϧνϗοϓ͕ՄೳͰ‫ݟ‬௨͠௨৴‫͕཭ڑ‬໿ 70m Ͱ͋Δ Zigbee‫֨ن‬Λ༻͍ͨ XBee PRO S2B Ͱ͋Δɽ·ͨนͳͲͷো֐෺Λճආ͢ΔͨΊͷ PSD ଌ‫ڑ‬ηϯαΛલ‫ࠨޙ‬ӈʹ̐‫ͨ͠૷࣮ݸ‬ɽຊ‫Ͱڀݚ‬͸λʔήοτ୳ࡧΛ૝ఆ͍ͯ͠Δɽͦ͜ͰϩϘοτ͸ো֐෺ճආΛ͢Δඞཁ͕͋Γɼಉ࣌ʹ SR ωοτϫʔΫͷ࿈݁ੑ΋อͨΕͳ͚Ε͹ͳΒͳ͍ɽۙ๣ͷϩϘοτͱͷ‫૿͕཭ڑ‬େ͠ɼωοτϫʔΫ͔Β֎Εͨ࣌ʹɼSR ωοτϫʔΫ΁෮‫͢ؼ‬ΔߦಈΛͱΔ৔߹ͷϑϩʔνϟʔτΛ Fig.2 ʹࣔ͢ɽ෮‫͢ؼ‬ΔߦಈΛͱΔ৔߹͸ Fig.1 ʹՃ͑ͯɼۙ๣ͷϩϘοτͱ௨৴Ͱ͖ͳ͘ͳͬͨ࣌ʹͦͷ৔Ͱ 180 ճస͢Δɽͦͷ‫ޙ‬ɼ‫ج‬஍‫ͱہ‬ͷ௨৴͕ճ෮͢Δ·Ͱো֐෺ճආΛ‫܁‬Γฦ͢ɽ

2.1 ໨తແઢ௨৴Ͱ͸Ұൠతʹɼແઢ‫ػ‬ͷҠಈ΍࣌ؒ‫ܦ‬աʹΑͬͯड৴Ͱ͖Δి೾ͷ‫ڧʹ͞ڧ‬ऑ͕ੜ͡Δ‫ݱ‬৅΍ϊΠζͷӨ‫ڹ‬Λड͚Δɽ͜ΕΒͷ‫ݱ‬৅͸࿈݁ੑʹӨ‫ڹ‬Λ༩͑ΔՄೳੑ͕͋Δɽ͔͠͠਺஋࣮‫Ͱݧ‬͸͜ΕΒͷӨ‫ڹ‬ͷશͯ͸ߟྀͰ͖ͳ͍ɽจ‫ ݙ‬4) ͰಘΒΕͨ݁ՌΛ‫ݕ‬ূ͢ΔͨΊʹ࣮‫ݧ࣮ػ‬Λߦ͏ɽ
2.2 λεΫ
ຊߘͰ͸λεΫͱͯ͠λʔήοτ୳ࡧΛѻ͏ɽͨͩ͠ɼຊߘͰ͸࿈݁ੑͷΈয఺Λ౰ͯͯ݁ՌΛࣔ͢ɽϩϘοτ͸࣮‫ݧ‬தɼো֐෺ճආߦಈΛͱΓ͚ͭͮΔɽಈ࡞ͷϑϩʔνϟʔτΛ Fig.1 ʹࣔ͢ɽ·ͣɼλΠϚ͕ελʔτͯ͠ 2 ඵؒɼϩϘοτ͸ͦͷ৔Ͱ 360 ౓ճస͢システム・情報部門学術講演会 2014（2014 年 11 月 21 日〜 23 日・岡山）࣮‫ػ‬ઃఆ

93SY0009/14/0000- 0093 ©2014 SICE

Fig. 4: Experimental environment

Fig. 2: Flowchart of number of connected robots withimmediate return to the previous position

B :Fig. 5: Illustration of experiment environment (⃝base station, ˔: robot)Βͳ͍৔߹ͷ݁ՌΑΓ΋࿈݁ੑ͕௿Լͨ͠ɽ͜Ε͸ SRωοτϫʔΫ΁෮‫͢ؼ‬ΔͨΊʹઃఆͨ͠ߦಈ͕ద੾Ͱ
͸ͳ͔ͬͨ͜ͱΛࣔ͢ɽ

3෮‫ߦؼ‬ಈΛͱΒͳ͍৔߹͸ɼ࿈͍݁ͯ͠ΔϩϘοτ୆਺͸΄΅ 10 ୆ͱͳΓɼ਺஋‫΅΄ͱࢉܭ‬Ұகͨ͠ɽ࣮‫ʹݧ࣮ػ‬Αͬͯ࿈ଓੑΛอͭ͜ͱ͕Ͱ͖Δͱࣔͤͨɽ෮‫ߦؼ‬ಈΛͱΒͤͨ৔߹Ͱ͸ɼे෼ʹ࿈݁ੑ͕อͯΔ͜ͱΛࣔͤͳ͔ͬͨɽ͜ͷҰҼͱͯ͠ϩϘοτΛҰ༷ʹ෼෍ग़དྷͳ͔ͬͨ͜ͱ͕͋͛ΒΕΔɽ

Fig. 3: Setup for a robot2.4࣮‫ݧ‬৚݅

4࣮‫ڥ؀ݧ‬͸ Fig.4 ͷΑ͏ͳమ‫ے‬ίϯΫϦʔτ੡‫ݐ‬෺಺෦ʹ֤ϩϘοτͱಉ͡௨৴Մೳ‫཭ڑ‬Λ΋ͭ‫ج‬஍‫ہ‬Λઃஔ͠ (Fig.5)ɼ‫ج‬஍‫֤ͱہ‬ϩϘοτͷ࿈݁ੑΛௐ΂Δɽ
ͳ͓ɼFig.5 ͸ Fig.4 ͷ໛ࣜਤͰ͋Γɼ‫ج‬஍‫ہ‬ͷҐஔͱϩϘοτ഑ஔͷҰྫΛࣔ͢ɽจ‫ ݙ‬4) ͷ݁ՌΛࢀߟʹͯ͠ϩϘοτͷ୆਺͸ 10 ୆ͱͨ͠ɽϩϘοτͷॳ‫ظ‬Ґஔ͸ϥϯμϜͱͨ͠ɽ࿈݁ੑΛ֬ೝ͢Δํ๏ͱͯ͠ɼ2 ඵִؒͰ֤ϩϘοτʹ‫ج‬஍‫͔ہ‬ΒύέοτΛૹ৴ͯ͠Ԡ౴͕͋ͬͨ୆਺Λ‫ه‬࿥͢Δɽ͜ΕΛ̑෼࣮ؒߦ͢ΔɽϩϘοτͷॳ‫ظ‬ҐஔΛม͑ͯ 10 ࢼߦߦͬͨɽ2.5ߟ࡯

·ͱΊຊߘͰ͸ɼSR ωοτϫʔΫͷ࿈݁ੑͷ‫ূݕ‬Λ໨తͱͯ͠ো֐෺ճආʹয఺Λ౰࣮ͯͯ‫ݧ‬Λߦͬͨɽͦͷ݁Ռɼ෮‫ߦؼ‬ಈΛͱΒͤͳ͍৔߹ʹ͸࿈ଓੑΛอͭ͜ͱΛࣔͤͨɽ͔͠͠෮‫ߦؼ‬ಈΛͱΒͤͨ৔߹Ͱ͸ɼे෼ʹ࿈ଓੑΛอͯΔ͜ͱΛࣔͤͳ͔ͬͨɽ

5ࠓ‫ޙ‬ͷ༧ఆࠓ‫ޙ‬ͷ՝୊͸ɼ෮‫ߦؼ‬ಈͷύλʔϯΛมԽͤͯ͞ɼ෮
‫ߦؼ‬ಈΛऔͬͨ৔߹ͷ࿈݁ੑʹର͢ΔӨ‫ڹ‬Λௐ΂Δ༧ఆͰ͋Δɽ·ͨɼจ‫ ݙ‬4) ͸‫ڥ؀‬ͷ‫ܗ‬ঢ়Λਖ਼ํ‫͑ߟͰܗ‬͍ͯΔͷͰจ‫ ݙ‬4) ͷద༻ํ๏Λߟ͑Δඞཁ͕͋Δɽ࣮‫݁ݧ‬Ռࢀߟจ‫ݙ‬෮‫ߦؼ‬ಈΛͱΒͳ͍৔߹ͱɼͱΔ৔߹ʹ͍ͭͯɼSRωοτϫʔΫʹ࿈͍݁ͯ͠ΔϩϘοτͷ୆਺Λ Fig.6ɼ
7 ʹͦΕͧΕࣔ͢ɽ෮‫ߦؼ‬ಈΛͱΒͳ͔ͬͨ৔߹͸ɼ࿈͍݁ͯ͠ΔϩϘοτ୆਺͸࣮‫ݧ‬தଟ͘ͷ࣌ؒͰ΄΅ 10୆ͱͳΓɼશϩϘοτ͕ωοτϫʔΫͰ࿈͍݁ͯ͠Δ͜ͱ͕Θ͔ΔɽҰํɼ෮‫ߦؼ‬ಈΛͱΔ৔߹ͷ݁Ռ͸ɼͱ1) TrianniɼVitoɿʠ Evolutionary Swarm Robotics”ɼ
Springer-Verlag (2008).
2) E. Sahin, “Swarm Robotics: From Sources of Inspiration to Domains of Application,” Lecture Notes
in Computer Science, Volume 3342/2005, pp.10-20,2005.

943) M. Brambilla, E. Ferrante, M. Birattari, M. Dorigo,
Swarm Robotics: A Review from the Swarm Engineering Perspective, Swarm Intelligence, Vol.7, No.1,
pp.1–41, 2013.
ʠ ύʔίϨʔγϣϯཧ࿦Λ༻͍ͨεϫʔϜϩ4) ੢‫ޱ‬ɼยాɿϘοτωοτϫʔΫͷ࿈݁ੑ”ɼ೔ຊ‫ػ‬ցֶձϩϘςΟΫεɾϝΧτϩχΫε෦໳ߨԋձ 2014ɼߨԋ࿦จू, 2A2X06, 2014.
ʠ εϫʔϜϩϘςΟΫεʹΑΔλʔήοτ୳5) ੢‫ޱ‬ɼยాɿࡧʹ͓͚Δ࣮‫૷࣮ػ‬ͷ‫ݕ‬౼”ɼ‫ܭ‬ଌࣗಈ੍‫ֶޚ‬ձγεςϜɾ৘ใ෦໳ֶज़ߨԋձ 2013ɼߨԋ࿦จू, p. 311-312, 2013.

Fig. 6: Number of connected robots without immediate return to the previous position

Fig. 7: Number of connected robots with immediate
return to the previous position

9❺