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Position Information Sharing and Mutual Localization of Multiple Mobile Robots using Infrared Wireless Communication

利用红外无线通信的多个移动机器人的位置信息共享和相互定位

基本信息

批准号：
15500119
负责人：
TACHIBANA Keihachiro
金额：
$ 2.24万
依托单位：
Hiroshima City University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2003
资助国家：
日本
起止时间：
2003 至 2004
项目状态：
已结题

项目摘要

This is research of cooperative operation of multiple mobile robots that use an infrared wireless communication system. In this research, a system that creates maps of their working space using communicating partners instead of landmarks was studied.At first, the position measurement error of mutual position information that uses this infrared wireless communication system was calculated in a simulation. The simulation of position measurement of three robots was performed using triangulation ranging. The accuracy of the algorithm was more than 90%, except for the case where the algorithm is incomputable.However, mobile robots cannot move to a position in their working space that is decided using only their mutual position information. This is because the coordinate system of their working space often differs from the coordinate system of mutual position information shared by robots. We examined how to detect the coordinate system of the working space that is inside a building, using corners and edges that are formed by walls and pillars as landmarks.In order to detect obstacles, the mobile robots use ultrasonic sensors and TV cameras. We examined how to detect the direction of and distance from a corner or edge using sensors. The distance measurement using ultrasonic sensors has a difference in accuracy depending on its detection circuit. We confirmed small errors of distance measurement in experiments of ultrasonic sensors using phase detection that is compared with envelope detection.In addition, we examined a direction detection method of corners and edges using TV cameras. The resolution of angle detection of TV cameras depends on their lens and CCD devices. We confirmed the accuracy of direction detection of corners and edges using images from TV cameras.We will study a method of creating a working space map suitable for remote controlled mobile robots based on these research results.

本研究是利用红外线无线通讯系统来进行多个移动的机器人的合作作业。在本研究中，研究了一种利用通信伙伴而不是地标来创建工作空间地图的系统，首先，在仿真中计算了使用这种红外无线通信系统的相互位置信息的位置测量误差。利用三角测距法对三个机器人的位置测量进行了仿真。该算法的准确性超过90%，除了在算法是不可计算的情况下。然而，移动的机器人不能移动到一个位置，在他们的工作空间，是决定只使用他们的相互位置信息。这是因为它们的工作空间的坐标系经常与机器人共享的相互位置信息的坐标系不同。我们研究了如何使用墙壁和柱子形成的角和边缘作为地标来检测建筑物内工作空间的坐标系。为了检测障碍物，移动的机器人使用超声波传感器和电视摄像机。我们研究了如何使用传感器检测角或边缘的方向和距离。使用超声波传感器的距离测量根据其检测电路而具有不同的精度。我们在使用相位检测的超声波传感器实验中确认了距离测量的微小误差，并与包络检测进行了比较。此外，我们还研究了使用电视摄像机的角点和边缘的方向检测方法。电视摄像机角度检测的分辨率取决于摄像机的透镜和CCD器件。我们确认了利用电视摄像机拍摄的图像进行角点和边缘方向检测的准确性。我们将基于这些研究结果，研究创建适用于遥控移动的机器人的工作空间地图的方法。