Research on the intellectual control of the plural mobile robots using image measurement methods and its application

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The following research results could be obtained in the research period.1. The establishment of the position measuring of long-distance and high precisionAn experimental examination was carried out about the method of decreasing the influences of the quantization error on the position measurement. Specially, speed-up could be realized by using several cameras. This method can be applied to the general position measurements, such as intelligent transport system.2. The proposal of the navigation method of mobile robot by beams of lightThe precision and flexibility of the proposed navigation method that used beams of light projected from the main robot were examined, and satisfactory effect could be proved. This method has the merits that the navigation of the sub robot is stable and the structure of the sub robot is simple. Considering the running chrematistics of the sub robot, the routes of the sub robot were designed. The validity of the proposal method could be confirmed by the experiments which plural sub robots were used for.The proposal of the general-purpose carriage method by the cooperation tasksGeneral-purpose object carriage by the cooperative tasks was tested, and it succeeded in verifying that validity. This system is thought to be able to carry the heavy desk and so on by cooperative tasks of sub robots, in order to realize the full automatic room cleaning system.The proposal of the distinction method of targets and the path teaching methodThe distinction method of targets and obstacles was investigated using the local visual information (color information, patterns, etc.). And the path teaching method was proposed.