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On the Navigation Autonomy of Multiple Mobile Robots in Tele-Robotics

远程机器人中多移动机器人的导航自主性研究

基本信息

批准号：
11650274
负责人：
NOBORIO Hiroshi
金额：
$ 2.37万
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：
1999
资助国家：
日本
起止时间：
1999 至 2000
项目状态：
已结题

项目摘要

In this research, when a human operates a slave robot at a remote site indirectly by a master robot at an operation site, what kind of software required at operation and remote sites are investigated in this paper. For this purpose, we design intelligent mobile robots and robotic manipulators, and then we consider how a human being operates these robots with the help of several kinds of software.First of all, we install on-line and off-line obstacle avoiding algorithms in mobile robots and robotic manipulators. Then, we evaluate them by convergence speed of a robot to its destination, or convergence robustness of a robot near its destination under sensing errors including GPS (Global Positioning System). Especially, we investigate which algorithm is suitable for supervising a non-holonomic mobile robot.Secondly, when a human operates a robotic manipulator, what kind of space (Euclidean space or configuration space) is suitable for supervising the manipulator. Unfortunately because of f … More ew experiments, we cannot determine which space is better, but in a kind of task or a part in a task, one space is completely better than another space. Therefore, we will determine which is better in an arbitrary work or its part in future. Here, in order to construct a configuration space (obstacle), we propose a fast collision-check algorithm between links of a manipulator or a manipulator and its static obstacles. Also, we extend the algorithm to generate friction and impulse forces artificially in a 3-D graphics (virtual) world.Finally, we build a master-slave robot system practically in this research, and then check usefulness of the shared autonomy system where intelligent robots and peoples run in the same environment. The system always includes a transmission delay between operation and remote sites, and a set of errors of robot, control, and sensing. Firstly, if master and slave robots are directly connected by a classic bilateral control, we check whether a human being at an operation site assembles many tasks while feeling friction and impulse forces made at a remote site comfortably. Secondly, since operation and remote sites far from each other, we prepare a graphics environment beside an operator, and the operator selects a good sequence of task motions while watching virtual slave robot and its environment. Here, we check flexibility of the remote operation experimentally if a predictive display of a slave site besides an operator exists at an operation site. In addition, we check comfortableness of the remote operation experimentally if an operator can feel friction and impulse forces artificially at a graphics computer (virtual environment). Finally, we check whether a slave robot is completely protected by the sensor-based path-planning (avoiding an unexpected collision between a robot and its obstacle). This is a fail-safe function of a slave robot at a remote site while overcoming robot, control, and sensing errors, and a large transmission delay. Less

在这项研究中，当一个人操作从机器人在远程站点间接的主机器人在一个操作现场，什么样的软件需要在操作和远程站点进行了调查。为此，我们设计了智能移动的机器人和机械手，然后我们考虑人类如何在几种软件的帮助下操作这些机器人。首先，我们安装在线和离线避障算法在移动的机器人和机械手。然后，我们评估他们的收敛速度的机器人到其目的地，或收敛鲁棒性的机器人在其目的地附近的传感器错误，包括GPS（全球定位系统）。特别是，我们研究了哪种算法适用于非完整移动的机器人的监督。其次，当人类操作机器人时，什么样的空间（欧氏空间或位形空间）适合于监督机器人。由于f ...更多信息新的实验，我们不能确定哪个空间更好，但在一种任务或任务中的一部分，一个空间完全优于另一个空间。因此，我们将决定哪一个是更好的任意工作或其部分在未来。在这里，为了构建一个配置空间（障碍），我们提出了一个快速碰撞检查算法之间的链接的机械手或机械手和它的静态障碍。最后，我们实际构建了一个主从式机器人系统，验证了智能机器人和人类在同一环境中运行的共享自治系统的有效性。该系统总是包括操作和远程站点之间的传输延迟，以及机器人，控制和传感的一组错误。首先，如果主机器人和从机器人通过经典的双边控制直接连接，我们检查在操作现场的人是否组装了许多任务，同时感觉到在远程站点舒适地产生的摩擦力和脉冲力。其次，由于操作和远程站点彼此相距甚远，我们准备了一个图形环境旁边的操作员，和操作员选择一个良好的任务运动序列，同时观看虚拟从机器人及其环境。这里，我们通过实验来检查远程操作的灵活性，如果在操作现场存在除操作员之外的从站的预测显示。此外，我们检查舒适性的远程操作实验，如果操作员可以感觉到摩擦力和冲击力人工在图形计算机（虚拟环境）。最后，我们检查从机器人是否完全保护基于传感器的路径规划（避免机器人和障碍物之间的意外碰撞）。这是在远程站点处的从机器人的故障安全功能，同时克服机器人、控制和感测错误以及大的传输延迟。少