Map Creation for Cooperative Operation of Multiple Mobile Robots using Infrared Wireless Communication

利用红外无线通信的多个移动机器人协同操作的地图创建

基本信息

批准号：
17500118
负责人：
TAKAI Hiroyuki
金额：
$ 2.24万
依托单位：
Hiroshima City University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2005
资助国家：
日本
起止时间：
2005 至 2006
项目状态：
已结题

项目摘要

This is research of map creation for a cooperative operation of multiple mobile robots using infrared wireless communication. In this research, we have developed an algorithm that creates a common workspace map for cooperation of multiple mobile robots based on positional information of obstacles detected by multi-robot exploration.This algorithm involves two steps: 1) teammate relative position detection and 2) temporary landmark detection.Since there is no landmark that serves as the point of reference of a given workspace, temporary partial coordinate axes are determined among adjacent robots by using teammates as temporary landmarks. We tested a temporary landmark detection algorithm that uses an image sensor and a fan beam laser, since the fan beam laser creates a visual representation of geometrical features of an object. The general point of origin and the general coordinate axes are determined among teammate robots based on the detected positions of temporary landmarks in a given workspace. The common workspace map is created by merged positional information of obstacles detected by multi-robot exploration.We also examined the creation of a cooperative operation of multiple mobile robots using web-service. When a web-service server-program has been installed in a system, if a function of the system is deployed to web-service, the function can be used from another system or operator. Therefore, if a web-service server-program is installed in all robots, each robot can access functions that were deployed to teammates and information can be shared among them.

这是利用红外无线通信进行多个移动机器人协同操作的地图创建的研究。在本研究中，我们开发了一种算法，根据多机器人探索检测到的障碍物的位置信息，创建用于多个移动机器人协作的公共工作空间地图。该算法包括两个步骤：1）队友相对位置检测和2）临时地标检测。由于没有地标作为给定工作空间的参考点，因此通过使用队友作为临时地标来确定相邻机器人之间的临时部分坐标轴。我们测试了一种使用图像传感器和扇形光束激光器的临时地标检测算法，因为扇形光束激光器创建了物体几何特征的视觉表示。队友机器人之间的一般原点和一般坐标轴是根据给定工作空间中检测到的临时地标的位置确定的。公共工作空间地图是通过合并多机器人探索检测到的障碍物的位置信息来创建的。我们还研究了使用网络服务创建多个移动机器人的协作操作。当系统中安装了Web服务服务器程序时，如果将系统的功能部署到Web服务，则可以从另一个系统或运营商使用该功能。因此，如果所有机器人都安装了网络服务服务器程序，每个机器人都可以访问部署给队友的功能，并且可以在它们之间共享信息。