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Development of Space-division Infrared Wireless Communication System for Cooperative Operation and Information Sharing of Multiple Mobile Robots

多移动机器人协同作业与信息共享的空分红外无线通信系统研制

基本信息

批准号：
15560333
负责人：
TAKAI Hiroyuki
金额：
$ 1.98万
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 on an infrared wireless communications system used for cooperative operation of multiple mobile robots. The communication system that can use not only mutual communication but also detect their position was studied. A partner robot's transmitting signal can be used as a beacon signal that shows its position. The direction of each beacon signal is detected using a PSD (Position Sensitive Device: photo-diode incidence angle sensor) in its receiver circuit, and mutual positions are computed by the triangulation ranging based on their directions.In a distributed controlled wireless communication network, unnecessary signals confuse communications. We analyzed the spatial factor of interference. When three robots in which one is a receiver and others are transmitters form a triangle, they cause communication interference. When restricting the angle of each optical receiver to less than 60 degrees, the greatest inside angle of the triangle formed by communicating robots becomes greater than 60 degrees. A robot that has the greatest inside angle becomes an arbiter and it controls mutual communication. In a simulation, we confirmed the solution of reducing interference is using an arbiter.We examined an infrared transceiver circuit that combines high-speed data transmission with accurate incidence angle detection. A PSD has two or four signal outputs, and an incidence angle is calculated from the difference in strength of their signals. We found the property of transmission signal of the infrared wireless communication system is a pulse signal, and we examined noise reduction using the property of the signal. Also we examined the NRZI encoded HDLC data transmission to detect suspension of communication links.We will study the infrared wireless communication system for multi robot mutual communication based on these research results.

本文研究的是一种用于多移动机器人协同作业的红外无线通信系统。研究了一种既能相互通信又能进行位置检测的通信系统。伙伴机器人的发射信号可以用作指示其位置的信标信号。在分布式受控无线通信网络中，每个信标信号的方向通过接收电路中的PSD(位置敏感器件：光电二极管入射角传感器)来检测，并根据它们的方向进行三角测距来计算相互的位置。分析了干扰的空间因素。当三个机器人组成一个三角形时，其中一个是接收器，另一个是发射器，它们会造成通信干扰。当每个光接收器的角度限制在60度以下时，通信机器人形成的三角形的最大内角变得大于60度。内角最大的机器人成为仲裁者，它控制着相互之间的交流。在仿真中，我们确定了减少干扰的解决方案是使用仲裁器。我们测试了一种结合了高速数据传输和精确入射角检测的红外收发电路。PSD有两个或四个信号输出，入射角是根据它们信号强度的差异计算出来的。发现红外无线通信系统传输信号的性质是脉冲信号，并利用该信号的性质进行了降噪实验。此外，我们还研究了NRZI编码的HDLC数据传输来检测通信链路的挂起。在这些研究成果的基础上，我们将研究用于多机器人相互通信的红外无线通信系统。