On the On-Line Navigation when Multiple Mobile Robots and Human Beings Move Simultaneously in the Same 2-D Uncertain Environment

多移动机器人与人类在同一二维不确定环境下同时运动的在线导航

• 批准号: 09650300
• 负责人: NOBORIO Hiroshi
• 金额: $ 2.56万
• 依托单位: Osaka Electro-Communication University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 1997
• 资助国家: 日本
• 起止时间: 1997 至 1998
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650300/
• 关键词: Mobile Robot; Human Being; Autonomous System; Sensor Fusion; Implicit Communication; Explicit Communication; Navigation; Path-Planning; マルチロボット; センサベーストナビゲーション; オンラインナビゲーション; 超音波センサ; 人間機械系

The final purpose of this research is to design a flexible and stable navigation algorithm for multiple mobile robots and human beings it they move simultaneously in the same 2-D (two-dimensional) environment including static obstacles. This on-line navigation algorithm is designed by mixing implicit and explicit communications, In the implicit communication, each robot has a set of outer sensors and a set of on-line traffic rules, and then sequentially determines its behavior by processing sensor information in the rule set. On the other hand, many robots communicate with each other via an explicit devise, e.g., a radio Ethernet in the explicit communication. In general, the explicit communication is more stable but slower than the implicit communication. Therefore, a part of the navigation algorithm adopts the implicit communication if its stability is maintained. Then, the others use the explicit communication.(1)Designing a robust sensor-based navigation algorithm for a single robo … More t : A mobile robot Nomad200 (Nomadic Co., USA) has a ring of ultrasonic sensors, a ring of infrared sensors, and a laser range finder. Even though the robot uses three different sensors, it unfortunately misunderstands the Euclidean distance to an uncertain static obstacle. Moreover, the robot misunderstands its own position and orientation by a dead-reckoning system based on encoders of wheels. Therefore, we design a flexible and stable navigation algorithm that a mobile robot arrives at the neighborhood of its destination in an unknown 2-D environment while overcoming sensor, position and orientation errors. In addition, because of no obstacle information, a mobile robot sometimes selects an extremely longer path to its destination. To overcome this defective point, we modify the proposed algorithm into a near-optimal sensor-based navigation algorithm.(2)Developing a sensor-based navigation algorithm based on the implicit communication between multiple robots : We design a sensor-based navigation algorithm for multiple mobile robots which communicate by sensor information and traffic rules. Three or more mobile robots Nomad200 and Nomad l5Oplus supervised by this algorithm run simultaneously. In this case, some of the robots collide with each other, or some of them cannot avoid a static obstacle or a wall. The reason is as follows : two active sensors discharge infrared and ultrasonic waves which are interfered each other in a complicated environment, For this reason, we check a bound of the sensor-based navigation or the implicit communication for multiple robots by three kinds of outer sensors.(3)Developing an on-line navigation algorithm based on the explicit communication between multiple robots and human beings : We design an on-line navigation algorithm for multiple mobile robots which communicate with each other by a radio Ethernet UDP (User Datagram Protocol). Furthermore, many human beings are in pursuit of a tracking vision system (FUJITSU Co.), and consequently their behaviors are communicated to all robots by the explicit communication. By the on-line navigation algorithm based on the explicit communication, a robot arrives at its destination surely after avoiding human beings and the other robots. Less

本研究的最终目的是设计一个灵活和稳定的导航算法，多个移动的机器人和人类，他们同时在同一个2-D（二维）环境中移动，包括静态障碍。该在线导航算法采用隐式通信和显式通信相结合的方式设计，隐式通信中，每个机器人都有一组外部传感器和一组在线交通规则，然后通过处理规则集中的传感器信息来确定自己的行为。另一方面，许多机器人通过显式设计彼此通信，例如，无线以太网在显式通信。一般来说，显式通信比隐式通信更稳定但更慢。因此，在保证导航算法稳定性的前提下，部分导航算法采用隐式通信。然后，其他人使用显式通信。（1）设计一种鲁棒的基于传感器的单机器人导航算法 ...更多信息 t：移动的机器人Nomad 200（Nomadic Co.，USA）有一个超声波传感器环、一个红外传感器环和一个激光测距仪。尽管机器人使用了三种不同的传感器，但不幸的是，它无法与不确定的静态障碍物保持欧几里得距离。此外，机器人通过基于车轮编码器的航位推算系统来确定自身的位置和方位。因此，我们设计了一个灵活和稳定的导航算法，移动的机器人到达附近的目的地在一个未知的2-D环境，同时克服传感器，位置和方向的错误。此外，由于没有障碍物信息，移动的机器人有时会选择极长的路径到达其目的地。为了克服这一缺陷，我们修改所提出的算法成为一个接近最优的基于传感器的导航算法。（2）基于多机器人隐式通信的传感器导航算法：设计了一种基于传感器信息和交通规则进行通信的多移动的机器人导航算法。三个或多个移动的机器人Nomad 200和Nomadl 5 Oplus同时运行。在这种情况下，一些机器人相互碰撞，或者一些机器人无法避开静态障碍物或墙壁。原因如下：在复杂的环境中，两个主动传感器同时发射红外和超声波，并相互干扰，为此，本文研究了三种外部传感器对多机器人基于传感器的导航或隐式通信的约束。（3）基于多机器人与人显式通信的在线导航算法：设计了一种多移动的机器人在线导航算法，机器人之间通过无线以太网UDP（User Datagram Protocol）进行通信。此外，许多人都在追求跟踪视觉系统（富士通公司），并且因此它们的行为通过显式通信被传送到所有机器人。通过基于显式通信的在线导航算法，机器人在避开人类和其他机器人的情况下，能够可靠地到达目的地。少

项目成果

Shigeki Hashimoto: "A Human Pursuit by a Tracking Vision and a Map Construction by a Ring of Ultrasonic Sensors (in Japanese)" B.S.Thesis, Osaka Electro-Communication University. (1999)

Shigeki Hashimoto：“通过跟踪视觉进行人类追踪和通过一圈超声波传感器构建地图（日语）”，大阪电子通信大学学士学位论文。

Hiroshi Noborio and Kenji Urakawa: "On the Near-Optimality of Sensor-Based Navigation in a 2-D Unknown Environment with Simple Shape" Proceedings of the IEEE International Conference on Robotics and Automation. (to appear). (1999)

Hiroshi Noborio 和 Kenji Urakawa：“关于简单形状的二维未知环境中基于传感器的导航的接近最优性”IEEE 国际机器人与自动化会议论文集。

Hiroshi Noborio and Kenji Urakawa: Near-Optimal Sensor-Based Navigation In an Environment Cluttered with Simple Shapes in the Dagstuhl proceedings will be publishied as part of the Lecture Notes in Computer Science, H.Noldemeier, H.Bunke and H.I Christens

Hiroshi Noborio 和 Kenji Urakawa：Dagstuhl 论文集中的近乎最优的基于传感器的导航在充满简单形状的环境中将作为计算机科学讲义的一部分出版，H.Noldemeier、H.Bunke 和 H.I Christens

Hiroshi Noborio,and Takashi Yoshioka: "Sensor-Based Navigation of a Mobile Robot under Uncertain Conditions" Practical Motion Planning in Robotics:Current Approaches and Future Directions,K.Gupta and A.P.del Pobil Ed.,John Wiley & Sons. 325-347 (1998)

Hiroshi Noborio 和 Takashi Yoshioka：“不确定条件下移动机器人基于传感器的导航”机器人实际运动规划：当前方法和未来方向，K.Gupta 和 A.P.del Pobil Ed.，John Wiley

Takashi Makiishi and Hiroshi Noborio: "Fast Explicit Communication of Multiple Mobile Robots Using Wired Ethernet on Sensor-Based Navigation" Proc.of the 1998 Japan-USA Symposium on Flexible Automation. (発表予定). (1998)

Takashi Makiishi 和 Hiroshi Noborio：“基于传感器的导航使用有线以太网进行多个移动机器人的快速显式通信”，1998 年日本-美国灵活自动化研讨会论文集（即将发表）。