权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

Development of Co-operative Distributed Outdoor Type Lawn Mowing System by Dynamical Task Allocation of Small-Size Robots

基于小型机器人动态任务分配的协同分布式户外割草系统开发

基本信息

批准号：
15580229
负责人：
MIKAMI Sadayoshi
金额：
$ 2.37万
依托单位：
Future University-Hakodate
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

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15580229/
关键词：
Agricultural Robot Autonomous Mobile Robot Cooperative Control Multi-Agents Charging Station GIS GPS Outdoor Robot

项目摘要

This project is to develop a lawn-mowing system by a group of small, cheap, and not so much precisely designed robots. The purpose is to realize reliable, efficient, and low-cost task performing system for a wide病rea outdoor task. In this research, we developed an autonomic charging system, which consists of a charging house with automatic shutter and an infrared driven homing system. This is the basis for giving autonomy for a group of robots. To allocate appropriate tasks to each robot, we developed an on-line task allocation system that performs allocation during communication by a dynamic communication channel connected by ad-hoc network. The design and tuning of the algorithm is based on an agent platform simulator by OAA architecture. The on-line connection and communication in ad-hoc network is realized by a transport protocol based on an SOAP message, which realizes rich communication involving status of machines and even for communication. Finally, we could develop an automatic fail-recovery algorithm, which is important issue of the outdoor robot designed at low cost and imprecise. The method is based on a trial-and-error recovery, with the acquisition of experience for successful escape, which then allows the robot to find an efficient way to escape for a similar situation of stuck.

This project is to develop a lawn-mowing system by a group of small, cheap, and not so much precisely designed robots. The purpose is to realize reliable, efficient, and low-cost task performing system for a wide disease outdoor task In this research we developed an autonomic charging system, which consists of a charging house with automatic shutter and an infrared driven homing system. This is the basis for giving autonomy for a group of robots. To allocate appropriate tasks to each robot, we developed an on-line task allocation system that performs allocation during communication by a dynamic communication channel connected by ad-hoc network. The design and tuning of the algorithm is based on an agent platform simulator by OAA architecture. The on-line connection and communication in ad-hoc network is realized by a transport protocol based on an SOAP message, which realizes rich communication involving status of machines and even for communication. Finally, we could develop an automatic fail-recovery algorithm, which is important issue of the outdoor robot designed at low cost and imprecise. The method is based on a trial-and-error recovery, with the acquisition of experience for successful escape, which then allows the robot to find an efficient way to escape for a similar situation of stuck.