| （英） |
The role of the ICR is to deliver packages to designated destinations automatically, and the ICR can contribute to solving labor shortages and improving productivity. In the conventional ICR, the centralized system that the remote server manages task assignment and collision avoidance control on the route of the ICR group is general. However, this system increases the cost of server installation and infrastructure maintenance. We focus on autonomous and decentralized control. ICRs share tasks and location information among ICRs, and then ICRs assign the next task by themselves based on the information. However, when each ICR communicates with all other ICRs, the number of wireless communication increases with the number of ICRs, thereby wasting radio communication resources. Therefore, an efficient data sharing method between ICRs in autonomous decentralized control is required. In this paper, we propose a method to reduce the load of wireless communication using a sink node to realize autonomous decentralized control of ICRs, and we show its effectiveness by simulation evaluation. |