Feasibility study of IoRT platform “Big Sensor Box”
Feasibility study of IoRT platform “Big Sensor Box”
复制标题
IoRT平台“大传感器盒”可行性研究
DOI：
10.1109/icra.2017.7989420
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Tokuo Tsuji
中科院分区：
文献类型：
--
作者：
R. Kurazume;YoonSeok Pyo;Kazuto Nakashima;A. Kawamura;Tokuo Tsuji
针对信息化环境，本文提出了新的软硬件平台ROS-TMS和Big Sensor Box。2005年，在机器人城镇工程中启动了信息化环境管理系统“城镇管理系统”的开发。从那时起，我们一直在继续努力提高性能并增强TMS功能。最近，我们推出了一个名为ROS-TMS的新版本TMS，它采用机器人操作系统（Robot Operating System， ROS），利用ROS的高可扩展性和大量资源，解决了TMS中的一些关键问题。本文首先讨论了面向信息结构化环境的软件平台的结构，并详细描述了我们最新的系统ROS-TMS 4.0版本。接下来，我们介绍了一个面向信息结构化环境的硬件平台——大传感器箱，在该平台中嵌入各种传感器，在ROS-TMS的管理下，服务机器人根据结构化信息进行操作。在大传感器箱中进行了机器人服务实验，包括取取和给予任务和轮椅机器人的自主控制。
This paper proposes new software and hardware platforms named ROS-TMS and Big Sensor Box, respectively, for an informationally structured environment. We started the development of a management system for an informationally structured environment named Town Management System (TMS) in the Robot Town Project in 2005. Since then we have been continuing our efforts to improve performance and to enhance TMS functions. Recently, we launched a new version of TMS named ROS-TMS, which resolves some critical problems in TMS by adopting the Robot Operating System (ROS) and utilizing the high scalability and numerous resources of ROS. In this paper, we first discuss the structure of a software platform for the informationally structured environment and describe in detail our latest system, ROS-TMS version 4.0. Next, we introduce a hardware platform for the informationally structured environment named Big Sensor Box, in which a variety of sensors are embedded and service robots are operated according to the structured information under the management of ROS-TMS. Robot service experiments including a fetch-and-give task and autonomous control of a wheelchair robot are also conducted in Big Sensor Box.