Network based Control composed of autonomous robots via wireless communication

由自主机器人通过无线通信组成的基于网络的控制

• 批准号: 23560297
• 负责人: UCHIMURA Yutaka
• 金额: $ 3.41万
• 依托单位: Shibaura Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2011
• 资助国家: 日本
• 起止时间: 2011 至 2013
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-23560297/
• 关键词: ネットワークベース制御; 遠隔操作; 無線中継; レスキューロボット; 遅れ時間系; 通信遅延; ネットワークロボット; 自律移動; 分散制御; 移動ロボット; 最適配置

This research was conducted to develop a control scheme which optimizes the position of autonomous mobile robots that construct a wireless network by multi-hop relay of the radio communication and expand the area of activities. The relay robots dynamically move following the leader rescue robot which is controlled by a human operator. In this research, a control method that considers the received signal strength and relative location among relay robots was proposed for the optimal deployment of relay robots. In the network system, the time delay in the transmission is crucial, thus a control scheme that reduced conservativeness of the stability condition was proposed. Using robots developed in this research, experiments were conducted for evaluation of the proposed methods and the results confirmed the validity of the proposed methods.

本研究旨在开发一种控制方案，优化自主移动机器人的位置，通过无线电通信的多跳中继构建无线网络并扩大活动范围。接力机器人跟随由人类操作员控制的领头救援机器人动态移动。在本研究中，提出了一种考虑接力机器人之间接收信号强度和相对位置的控制方法，以实现接力机器人的优化部署。在网络系统中，传输时延至关重要，因此提出了一种降低稳定性条件保守性的控制方案。利用本研究开发的机器人，对所提出的方法进行了实验评估，结果证实了所提出方法的有效性。

项目成果

Deployment control of mobile robots for wireless network relay based on received signal strength

• DOI: 10.1109/arso.2013.6705535
• 发表时间: 2013-11
• 期刊: 2013 IEEE Workshop on Advanced Robotics and its Social Impacts
• 作者: Takaaki Saitou;Masanori Nukada;Y. Uchimura

Controller Design based on Complete Quadratic Lyapunov - Krasovskii Functional for Time Delay Systems

基于完全二次李亚普诺夫-克拉索夫斯基泛函时滞系统的控制器设计

• 发表时间: 2012
• 作者: T. Ohkubo;N. Terada;Y. Yoshida;松田忠典・川西通裕・成清辰生;加藤,前田,岩崎,平井;Yutaka Uchimura,Masanori Nagahara
• 通讯作者: Yutaka Uchimura,Masanori Nagahara

Robust H∞ Control for Time-varying Delay System with Frequency Dependent Performance Weights

具有频率相关性能权重的时变延迟系统的鲁棒H∞控制

• 发表时间: 2011
• 作者: Ryosuke Kamiya;Akihiro Torii;Kae Doki;Yutaka Uchimura
• 通讯作者: Yutaka Uchimura

Stability Criterion of Biped Robot on Rough Terrain

崎岖地形上双足机器人的稳定性判据

• DOI: 10.1541/ieejias.133.320
• 发表时间: 2013
• 期刊: IEEJ Transactions on Industry Applications
• 作者: Kentaro Yoshii;Tatsuhiko Sugiyama;Masato Suzuki;Hiroki Hayashi;Takashi Konno;Yasushi Shibata;Mitsuru Aoyama;and Gen Hashiguchi;森慶太,福居文幸,内村裕
• 通讯作者: 森慶太,福居文幸,内村裕

環境地図情報と受信信号強度を使用とした自律移動ロボット群の配置制御

使用环境地图信息和接收信号强度进行自主移动机器人组的放置控制

• 发表时间: 2014
• 作者: 盛永明啓,M. Svinin;山本元司;斎藤崇彰,額田将範,金川拓也,那谷和輝,内村裕
• 通讯作者: 斎藤崇彰,額田将範,金川拓也,那谷和輝,内村裕