Multi-robot network system for rescue operation

用于救援行动的多机器人网络系统

• 批准号: 18500061
• 负责人: SUGIYAMA Hisayoshi
• 金额: $ 2.12万
• 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: 2006
• 资助国家: 日本
• 起止时间: 2006 至 2007
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-18500061/
• 关键词: Rescue system; USAR; Ad Hoc Network; Multi-Agent; Autonomous Mobile Robot; 群ロボット

The original targets of this research are, investigation of (1) the system operation scheme, (2) the reliability of the system, and (3) the effeciency of network transmission, concerning the our proposal: victim detection system. The results are the followings.In relation with (1) and (2), SRRC (Search and Relay Robot Classification) method is proposed and the performance is confirmed by computer simulation. In SRRC, each robot in the victim detection system behaves pertinently depending on the position in the network, and confirms the chain network that reaches the target point within the disaster area. Because the chain network autonomously configure and transform itself, the efficient exploration of unknown environment becomes possible. The real time exploration of disaster areas is realized with the SRRC scheme.Here, the real time exploration is the proposal in relation with the SRRC. That means the condition for the multi-robot rescue system. This condition imposes first, the communication path must always exist between each robot and the operators at the base station, and second, the path must configured by ad hoc networking. The communication path makes it possible that the operators examine the victim that a robot detects, and therefore the reliability of the system increases.In relation with the reliability of the system, the wireless power supplying to robots is also investigated. The network transmission method (3) must be investigated along with the chain network transformation and is studying now.

本研究的主要目的是针对受害者侦测系统的设计方案，探讨系统的运作模式、系统的可靠性、以及网路传输的效率。研究结果如下：针对（1）和（2），提出了搜索和中继机器人分类方法SRRC（Search and Relay Robot Classification），并通过计算机仿真验证了其性能。在SRRC中，受害者检测系统中的每个机器人根据在网络中的位置有针对性地行动，并确定到达灾区内目标点的链式网络。由于链式网络的自主配置和自我转换，使得对未知环境的有效探索成为可能。采用SRRC方案实现了对灾区的真实的实时探测，这里的真实的实时探测是与SRRC方案相关的方案。这意味着多机器人救援系统的条件。这个条件首先要求，通信路径必须始终存在于每个机器人和基站的操作员之间，其次，路径必须通过自组织网络配置。通信路径使操作员能够检查机器人检测到的受害者，因此增加了系统的可靠性。与系统的可靠性有关，还研究了向机器人提供无线电力。网络传输方法（3）必须沿着进行链式网络改造，目前正在研究中。

项目成果

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)
• 作者: Hisayoshi Sugiyama;T. Tsujioka;M. Murata

災害救助用群ロボット間アドホックネットワークの研究

救灾群体机器人间自组织网络研究

• 发表时间: 2007
• 作者: Shinya Tahara;Nobutaka Kawaguchi;Taro Inaba;Hidekazu Shiozawa;Hiroshi Shigeno;Ken-ichi Okada;杉山 久佳;Shinya Tahara;杉山 久佳
• 通讯作者: 杉山 久佳

遠隔スペース探索を目的とした群ロボットによる連鎖ネットワーク形成

群机器人形成链网络进行远程太空探索

• 发表时间: 2008
• 作者: 杉山 久佳;辻岡 哲夫;村田 正
• 通讯作者: 村田 正

群ロボットレスキューシステムの非接触型給電ネットワーク

群体机器人救援系统非接触供电网络

• 发表时间: 2008
• 期刊: 計測自動制御学会論文 Vol.44, No.12(Selected Paper)
• 作者: Y.Wang;B.Widrow;D.Zhang;W.Kinsner;K Sugawara;杉山久佳
• 通讯作者: 杉山久佳

Reconnaissance into Distant Spaces by Multi-Robot Rescue System with Ad Hoc Networking

具有自组织网络的多机器人救援系统对遥远空间的侦察

• 发表时间: 2007
• 期刊: First International Conference on Robot Communi cation and Coordination (ROBOCOMM2007) (CDROM収録)
• 作者: H. Sugiyama;T. Tsujioka;M. Murata
• 通讯作者: M. Murata