Cooperative self-positioning system for multiple mobile robots

T. Yoshida, A. Ohya, Shinichi Yuta

Research output: Chapter in Book/Report/Conference proceedingConference contribution

14 Citations (Scopus)

Abstract

Detecting and correcting a difference of coordinate system definition among a team of robot is mandatory when robots operate in the same environment. In this paper we develop a system for sharing a common coordinate system. Comparing measuring results of same environment among multiple robots, it is possible to detect coordinate system error. We considered this approach and implemented a programming framework which shares a common coordinate system. This approach does not require any information about the environment in advance. Utilizing ultrasonic range finder with a flat wall detection algorithm is possible to implement the proposed framework. The implementation constraints the presence of a flat wall as a part of the environment in order to calculate the difference of coordinate system, already defined among the robots. Then it automatically corrects the difference of the definition of coordinate systems. The experimental result shows its functionality.

Original languageEnglish
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages223-227
Number of pages5
Volume1
ISBN (Print)0780377591
DOIs
Publication statusPublished - 2003
Externally publishedYes
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Other

Other2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
CountryJapan
CityKobe
Period03/7/2003/7/24

Fingerprint

Mobile robots
Robots
Range finders
Ultrasonics

Keywords

  • Control systems
  • Coordinate measuring machines
  • Costs
  • Mobile robots
  • Navigation
  • Position measurement
  • Robot kinematics
  • Robot programming
  • Robot sensing systems
  • Ultrasonic variables measurement

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Yoshida, T., Ohya, A., & Yuta, S. (2003). Cooperative self-positioning system for multiple mobile robots. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 1, pp. 223-227). [1225099] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2003.1225099

Cooperative self-positioning system for multiple mobile robots. / Yoshida, T.; Ohya, A.; Yuta, Shinichi.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. p. 223-227 1225099.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Yoshida, T, Ohya, A & Yuta, S 2003, Cooperative self-positioning system for multiple mobile robots. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 1, 1225099, Institute of Electrical and Electronics Engineers Inc., pp. 223-227, 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Kobe, Japan, 03/7/20. https://doi.org/10.1109/AIM.2003.1225099
Yoshida T, Ohya A, Yuta S. Cooperative self-positioning system for multiple mobile robots. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1. Institute of Electrical and Electronics Engineers Inc. 2003. p. 223-227. 1225099 https://doi.org/10.1109/AIM.2003.1225099
Yoshida, T. ; Ohya, A. ; Yuta, Shinichi. / Cooperative self-positioning system for multiple mobile robots. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 1 Institute of Electrical and Electronics Engineers Inc., 2003. pp. 223-227
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