An infra-red sensory system with local communication for cooperative multiple mobile robots
An infra-red sensory system with local communication for cooperative multiple mobile robots
复制标题
一种用于协作多个移动机器人的具有本地通信的红外传感系统
DOI：
10.1109/iros.1995.525800
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
I. Endo
中科院分区：
文献类型：
--
作者：
Sho'ji Suzuki;H. Asama;Akira Uegaki;S. Kotosaka;T. Fujita;A. Matsumoto;H. Kaetsu;I. Endo
由多个机器人智能体组成的分布式自主机器人系统作为一种新的机器人系统柔性化和鲁棒化策略，受到了众多研究者的关注。对于分布式自主机器人系统中的多个移动的机器人协作，需要对动态环境进行识别。在本文中，一个新的传感系统与本地通信功能的开发利用红外设备。在讨论多移动的机器人协作感知和通信问题的基础上，导出了对感知系统的要求。然后，红外传感系统的设计和开发考虑到所需的功能。该系统不仅可以检测与障碍物或其他机器人的碰撞，还可以进行机器人之间的本地通信。该系统还可以检测多个红外信号的干扰。最后介绍了所开发的系统，并给出了实验结果。
Distributed autonomous robotic systems which are composed of multiple robotic agents have been attracted the attention of many researchers as a new strategy for flexible and robust robotic systems. For cooperative multiple mobile robots in distributed autonomous robotic systems, recognition of the dynamic environment is required. In this paper, a new sensory system with local communication functionality is developed utilizing infra-red devices. Based on the discussion on sensing and communication for cooperative multiple mobile robots, requirements for the sensory system are derived. Then, the infra-red sensory system is designed and developed taking account of the required function. This system enables not only detection of collisions against obstacles or other robots but also local communication between robots. This system can also detect interference of plural infra-red signals. Finally the developed system as introduced, and its performance obtained as a results of experiments is shown.