Cooperative self-positioning system for multiple mobile robots

T. Yoshida, A. Ohya, S. 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 publicationProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages223-227
Number of pages5
ISBN (Electronic)0780377591
DOIs
Publication statusPublished - 2003 Jan 1
Event2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
Duration: 2003 Jul 202003 Jul 24

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume1

Other

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

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

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

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  • Cite this

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