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Multi-robot network system for rescue operation

用于救援行动的多机器人网络系统

基本信息

批准号：
16500117
负责人：
SUGIYAMA Hisayoshi
金额：
$ 1.92万
依托单位：
Osaka 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：
2004
资助国家：
日本
起止时间：
2004 至 2005
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-16500117/
关键词：
Rescue operation Autonomous mobile robot Ad hoc network Multi agent USAR Multi-robot QoS 自律的パス修復

项目摘要

The following three points are obtained. Where, victim detection system means a system for rescue operation which the head investigator proposed. The system consists of multi-robots and a monitor station. For the purpose to maintain the network, each robot does the autonomous pass recovery in this system.(1)The investigation of the reconnaissance into distant space.The reconnaissance into distant space is proposed and the performance is confirmed. The proposed scheme consists of the sequential movement of robots to the destination in the space, and the random walking of them after the arrival at the destination. It is confirmed by computer simulations that in spite of breakages of communication path, the breakages are recovered and the reconnaissance is done successfully.(2)The investigation of wide area exploration.The wide area exploration is proposed and the performance is confirmed. The proposed scheme consists of the classification of robots into search robot (SR) and relay robot (RR) by themselves, and the movement of RR to maintain the communication path between MS and the master SR which the RR selects among SRs. The system performance is confirmed by the computer simulations.(3)The investigation of real time streaming of dynamic picture imageThe synchronized QoS routing is already proposed for real time streaming of dynamic picture images in ad hoc network. However, because of void VCs decrease the rate of successful communication when network topology changes frequently, the conventional scheme is not applicable to the rescue operation. To resolve this problem, the modification of frame structure is proposed in the synchronized QoS routing. The system performance is confirmed by computer simulations.

得到以下三点。其中，被害人侦查系统，指由首席调查员提出的救援行动系统。该系统由多个机器人和一个监测站组成。为了维护网络，每个机器人在系统中进行自主通道恢复。(1)对遥远空间的侦察调查。提出了对遥远空间的侦察，并对其性能进行了验证。该方案包括机器人在空间中向目的地的顺序运动，以及机器人到达目的地后的随机行走。计算机仿真结果表明，在通信路径中断的情况下，通信路径被恢复，侦察成功。(2)广域勘探调查。提出了广域勘探方案，并对勘探效果进行了验证。该方案包括将机器人自身分为搜索机器人（SR）和中继机器人（RR），并通过RR的运动来保持SR与主SR之间的通信路径，RR在SR中选择主SR。计算机仿真验证了系统的性能。(3)动态图像实时流的研究针对ad hoc网络中动态图像的实时流，已经提出了同步QoS路由。然而，在网络拓扑结构频繁变化的情况下，由于空vc降低了通信成功率，因此传统的方案并不适用于救援行动。为了解决这一问题，提出了在同步QoS路由中修改帧结构的方法。通过计算机仿真验证了系统的性能。

项目成果

期刊论文数量（31）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Improvement of Transmission Properties of Synchronized QoS Ad Hoc Network by Rapid Control Method

快速控制方法改善同步QoS Ad Hoc网络传输性能

DOI：
发表时间：
2006
期刊：
Electronics and Communications in Japan : Part1 (未定)(採録決定)
影响因子：
0
作者：
H.Sugiyama;T.Tsujioka;M.Murata
通讯作者：
M.Murata

Wide Area Search by Victim Detection System Based on Ad Hoc Network and Autonomous Path Recovery

基于Ad Hoc网络和自主路径恢复的受害者检测系统广域搜索

DOI：
发表时间：
2005
期刊：
Transactions of the Society of Instrument and Control Engineers Vol.41, No.2
影响因子：
0
作者：
H.Sugiyama;T.Tsujioka;M.Murata
通讯作者：
M.Murata

ディジタル信号処理-解析と設計の基礎-

数字信号处理 - 分析和设计基础 -

DOI：
发表时间：
2005
期刊：
影响因子：
0
作者：
杉山久佳;辻岡哲夫;村田正;杉山久佳
通讯作者：
杉山久佳

QoS routing in a multi-robot network system for urban search and rescue

DOI：
10.1109/aina.2006.279
发表时间：
2006-04
期刊：
20th International Conference on Advanced Information Networking and Applications - Volume 1 (AINA'06)
影响因子：
0
作者：
Hisayoshi Sugiyama;T. Tsujioka;M. Murata
通讯作者：
Hisayoshi Sugiyama;T. Tsujioka;M. Murata

Collaborative Movement of Rescue Robots for Reliable and Effective Networking in Disaster Area

救援机器人协同移动，实现灾区可靠有效组网