Cooperative self-positioning system for multiple mobile robots

T. Yoshida, A. Ohya, S. Yuta

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
出版社Institute of Electrical and Electronics Engineers Inc.
ページ223-227
ページ数5
ISBN(電子版)0780377591
DOI
出版ステータスPublished - 2003 1 1
イベント2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan
継続期間: 2003 7 202003 7 24

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
1

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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