Cooperative self-positioning system for multiple mobile robots
Cooperative self-positioning system for multiple mobile robots
复制标题
多移动机器人协同自定位系统
DOI：
10.1109/aim.2003.1225099
复制
发表时间：
2003
期刊：
影响因子：
--
通讯作者：
S. Yuta
中科院分区：
文献类型：
--
作者：
T. Yoshida;A. Ohya;S. Yuta
当机器人在相同的环境中工作时，检测和校正一组机器人之间的坐标系定义的差异是强制性的。在本文中，我们开发了一个系统，用于共享一个共同的坐标系。比较多个机器人对同一环境的测量结果，可以检测坐标系误差。我们考虑了这种方法，并实现了一个共享一个共同的坐标系的编程框架。这种方法不需要事先获得任何有关环境的信息。利用具有平坦壁检测算法的超声波测距仪可以实现所提出的框架。该实施方式限制了作为环境的一部分的平面壁的存在，以计算已经在机器人之间定义的坐标系的差异。然后自动修正坐标系定义的差异。实验结果表明了该方法的有效性。
Detecting and correcting a difference of coordinate system definition among a team of robot is mandatory when robots operate in the same environment. In this paper we develop a system for sharing a common coordinate system. Comparing measuring results of same environment among multiple robots, it is possible to detect coordinate system error. We considered this approach and implemented a programming framework which shares a common coordinate system. This approach does not require any information about the environment in advance. Utilizing ultrasonic range finder with a flat wall detection algorithm is possible to implement the proposed framework. The implementation constraints the presence of a flat wall as a part of the environment in order to calculate the difference of coordinate system, already defined among the robots. Then it automatically corrects the difference of the definition of coordinate systems. The experimental result shows its functionality.