Sharing charging stations for long-term activity of autonomous robots
Sharing charging stations for long-term activity of autonomous robots
复制标题
为自主机器人的长期活动提供共享充电站
DOI：
10.1109/irds.2002.1041685
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
E. Robichaud
中科院分区：
文献类型：
--
作者：
F. Michaud;E. Robichaud
为了长时间运行，自主移动机器人必须具备在必要时自行充电的能力。除了能够找到并连接到电源外，机器人还必须考虑在能源是有限资源的环境中采取行动来保存和共享能源。因此需要进行协调以确保群体的生存和机器人任务的完成。本文通过允许机器人对其个体和群体的能量能力进行预测和推理来探讨这些问题。所描述的方法使机器人能够确定何时充电、何时改变其活动水平以及应该充电多长时间。通过模拟对这项工作进行了验证，以证明该方法对于不同数量的机器人和电源的通用性。还报告了使用先锋2号机器人进行的实验。
To operate over a long period of time, autonomous mobile robots must have the capability of recharging themselves whenever necessary. In addition to be able to find and connect to a power source, robots must also consider taking actions to preserve and share energy in an environment where energy is a limited resource. Coordination is then required to ensure the survival of the group and the accomplishment of the robots' tasks. This paper explores these issues by allowing robots to predict and reason about their energetic capabilities, as individuals and as a group. The approach described allows robots to determine when to recharge, when to change their activity level and how long they should recharge. Validation of the work is done in simulation to demonstrate the versatility of the approach for different numbers of robots and power sources. Experiments with Pioneer 2 robots are also reported.