Traffic Measurement Method for Multi-Robot Systems Using a Weight Matrix Representation

초록

This paper proposes a weight-based graph model to measure traffic flow in a multi-robot system. The proposed method calculates the weight of each edge by combining distance, robot capacity, bottleneck risk, and section status, which enables the quantitative evaluation of real-time traffic flow and congestion within the collaborative AMR environment. Unlike the existing distance-based static method, this method dynamically adjusts the weight in real-time, reflecting the robot's current state, parameters, and environmental information. Additionally, it is possible to avoid bottleneck situations by dynamically adjusting the weight. Through experiments on multi-path distribution, bottleneck response, and environmental error scenarios conducted in the Gazebo simulation environment based on ROS2, the effectiveness of the proposed method was demonstrated, showing improved performance in terms of congestion avoidance and flow efficiency compared to the existing distance-based method.

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