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Cooperation Among Distributed Autonomous Robots

分布式自主机器人之间的合作

基本信息

批准号：
10044141
负责人：
KAJITANI Makoto
金额：
$ 3.97万
依托单位：
The University of Electro-Communications
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B).
财政年份：
1998
资助国家：
日本
起止时间：
1998 至 1999
项目状态：
已结题

项目摘要

This project is a fundamental research on cooperation among multiple distributed autonomous mobile robots. The purpose is to develop cooperative control algorithms, sensor systems and several prototypes of mobile robot and mobile manipulator and to demonstrate the availability of developed systems by experiments. The basic concept of intelligent distributed autonomous robot system has been discussed and experiments by newly developed robots have been done by researchers at both University of Electro-Communications and Griffith University. The results obtained are as follows.1) Several methods of obstacle detection and obstacle avoidance have been developed by using characteristics of multiple infrared sensor and ultrasonic sensor cooperatively.2) As a case study, cooperation among multiple autonomous robots in intelligent vehicles and trans-portation systems is considered. Algorithm for road intersection crossing, front-vehicle tracking, overtaking, lane following, obstacle avoidance, … More front-vehicle distance control, narrow bridge crossing and formation driving have been developed and implemented to the robot system.3) A new method, that is, rapid obstacle sensing using mobile robot sonar (ROSUM), for treating the crosstalk data of a so-called sonar ring, while employing a simultaneous firing regime has been proposed. It is shown by experiments that the robot with ROSUM sonar ring can avoide obstacles quickly and smoothly in complicated environment.4) A new prototype of mobile manipulator with exchangeable active/passive joints has been developed in order to solve various problems in performing a cooperated task, in which a long pipe is to be moved out from a restrained location, transferred to an assigned position and set to a new restrained location. Experiments on proposed task by the cooperation of human and the mobile manipulator have been performed. The task was performed successfully by the simple control method. Cooperation for the task by two mobile manipulators will be done in the next work. Less

本课题是多个分布式自主移动机器人协作的基础性研究。目的是开发移动机器人和移动机械手的协同控制算法、传感器系统和几种原型，并通过实验验证所开发系统的有效性。讨论了智能分布式自主机器人系统的基本概念，并由电子通信大学和格里菲斯大学的研究人员用新开发的机器人进行了实验。研究结果如下：1)利用多个红外传感器和超声波传感器协同工作的特点，提出了多种障碍物检测和避障的方法。2)以智能车辆和运输系统中多个自主机器人的协作为例，研究了多个自主机器人之间的协作问题。交叉路口、前方车辆跟踪、超车、车道跟随、避障、…算法3)提出了一种基于移动机器人声纳(ROSUM)的快速障碍物感知方法，用于处理声纳环上的串扰数据，同时采用同步发射机制。实验表明，带Rosum声纳环的机器人在复杂的环境中能够快速、平稳地避障。4)针对机器人在执行协同作业中遇到的各种问题，设计了一种主被动关节可互换的移动机械手样机，将一根长管子从约束位置移出指定位置，并设置到新的约束位置。对人与移动机械手协作完成的任务进行了实验研究。通过简单的控制方法，成功地完成了任务。在接下来的工作中，将由两个移动机械手合作完成这项任务。较少