[4Rin1] Interactive 2

[4Rin1-85] Emergence of string-like cooperative behavior of a 2D optimal velocity robot

走行ロボットの集団協調行動のための知能としての2次元最適速度モデル

〇Masashi Yamada¹, Yasushi Honda¹ (1.Muroran Institude of Technology)

Keywords:Optimal_velocity_model, Traveling robot, Cooperation action, Robot intelligence

We developed two-dimensional optimal velocity robots that incorporated a self-driven model called a two-
dimensional optimal velocity model. We revealed these robots formed collective string-like motion in a circular
field. In other words, optimal velocity model can be regarded as a kind of simple principle of intelligence for group
cooperative behavior. It was also clarified that the sensitivity (a) and the rate of change of the optimal velocity
function ( β ) greatly affected the conditions for stable string motion. In this study, we investigated various run-
ning conditions of a two-dimensional optimal speed robot when the sensitivity (a) and the rate of change of the
optimal velocity function ( β ) were changed. We investigated robot behavior in more detail than previous study.
We investigated whether the environment such as the initial position and the shape of the field had an effect on
the string-like motion. As a result, we found a parameter region that forms a stable string-like motion, but found
that a unique cooperative behavior emerged when multiple running robots interacted with the environment.