Departmental Bulletin Paper 昆虫の採餌行動を基にした広域探査アルゴリズムの開発

武田, 大志

The application of robots or drones to search for survivors in disaster sites has recently attracted considerable research attention. In this study, we focus on the behavior of insects and propose a simple path generation algorithm for search and rescue robots. The proposed algorithm is based on the ladybird’s strategyfor gathering food. In addition, we optimize its parameters using a genetic algorithm. The effectiveness of theproposed algorithm is demonstrated through simulations and we optimize the parameters of the searching algorithm for a real robot by simulation. In addition, we apply them to the robot and conduct experiments in a real environment.Key Words : Search and rescue, Wide area search, Local search, Genetic algorithm, Ladybird

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