Map Creation for Cooperative Operation of Multiple Mobile Robots using Infrared Wireless Communication

本文研究的是基于红外无线通信的多移动机器人协同作业的地图生成方法。本文提出了一种基于多机器人探测到的障碍物位置信息建立多移动机器人协作的公共工作空间地图的算法，该算法包括两个步骤：1)队友相对位置检测和2)临时地标检测。由于没有地标作为给定工作空间的参考点，因此通过将队友作为临时地标来确定相邻机器人之间的临时局部坐标轴。我们测试了一种使用图像传感器和扇形光束激光器的临时地标检测算法，因为扇形光束激光器创建了对象几何特征的可视表示。基于检测到的临时地标在给定工作空间中的位置，确定队友机器人之间的总原点和总坐标轴。通过融合多个机器人探测到的障碍物的位置信息来创建公共工作空间地图，并研究了利用Web服务创建多个移动机器人的协作操作。当网络服务服务器程序已经安装在系统中时，如果系统的功能被部署到网络服务，则可以从另一系统或运营商使用该功能。因此，如果在所有机器人中都安装了Web服务服务器程序，则每个机器人都可以访问部署给队友的功能，并且可以在他们之间共享信息。

This is research of map creation for a cooperative operation of multiple mobile robots using infrared wireless communication. In this research, we have developed an algorithm that creates a common workspace map for cooperation of multiple mobile robots based on positional information of obstacles detected by multi-robot exploration.This algorithm involves two steps: 1) teammate relative position detection and 2) temporary landmark detection.Since there is no landmark that serves as the point of reference of a given workspace, temporary partial coordinate axes are determined among adjacent robots by using teammates as temporary landmarks. We tested a temporary landmark detection algorithm that uses an image sensor and a fan beam laser, since the fan beam laser creates a visual representation of geometrical features of an object. The general point of origin and the general coordinate axes are determined among teammate robots based on the detected positions of temporary landmarks in a given workspace. The common workspace map is created by merged positional information of obstacles detected by multi-robot exploration.We also examined the creation of a cooperative operation of multiple mobile robots using web-service. When a web-service server-program has been installed in a system, if a function of the system is deployed to web-service, the function can be used from another system or operator. Therefore, if a web-service server-program is installed in all robots, each robot can access functions that were deployed to teammates and information can be shared among them.