Placement control of mobile robots based on position state and environmental map information

机译：基于位置状态和环境图信息的移动机器人的放置控制

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摘要

Remote operation of mobile robots for rescue purpose requires wireless network to expand the exploring area. However,the communication infrastructure cannot always be used in disster fields. Thus the self-organized network need to be constructed which requires multi-hop relayed ad-hoc network. For the stable wireless communication, It's desirable to equalize the state of communication among every node. This Paper proposes a placement method which aims at the optimum deployment of multi-relay robots. Acting the virtual forces based on the state of communication, location of each robots and environmental map information to the robots to equalize the state of communication. Details of the method and simulation results are shown. Experimental results which are conducted with real mobile robots are also shown.

机译：为了救援目的而移动机器人的远程操作需要无线网络以扩大探索范围。但是，通信基础结构不能总是用于灾难现场。因此，需要构建需要多跳中继自组织网络的自组织网络。为了稳定的无线通信，希望均衡每个节点之间的通信状态。本文提出了一种布局方法，旨在优化多中继机器人的部署。根据通信状态，每个机器人的位置以及给机器人的环境地图信息来作用虚拟力，以均衡通信状态。显示了方法的详细信息和仿真结果。还显示了用真实的移动机器人进行的实验结果。

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来源
《10th France-Japan Congress, 8th Europe-Asia Congress on Mechatronics》|2014年|207-212|共6页
会议地点 Tokyo(JP)
作者
Saitou Takaaki; Uchimura Yutaka;
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作者单位

Shibaura Inst. of Technol., Tokyo, Japan;

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会议组织
原文格式 PDF
正文语种 eng
中图分类
关键词
ad hoc networks; relay networks (telecommunication); rescue robots; telerobotics; communication infrastructure; disaster fields; environmental map information; mobile robots; multihop relayed ad-hoc network; multirelay robots; placement control method; position state; self-organized network; stable wireless communication; virtual forces; wireless network; Base stations; Force; Mobile robots; Relays; Robot kinematics; Robot sensing systems;

机译：自组织网络;中继网络（电信）;救援机器人;电信;通信基础设施;灾难场;环境地图信息;移动机器人;多跳中继自组织网络;多中继机器人;位置控制方法;位置状态;自组织网络;稳定的无线通信;虚拟力量;无线网络;基站;力;移动机器人;继电器;机器人运动学;机器人传感系统;;

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专利

1. Building Segment-Based Maps Without Pose Information - Mobile robots can construct maps of their surroundings using laser range scanners that detect walls and vertical objects; no data on robot position and orientation is needed [J] . FRANCESCO AMIGONI, SIMONE GASPARINI, MARIA GINI Proceedings of the IEEE . 2006,第7期

机译：在没有姿势信息的情况下构建基于分段的地图-移动机器人可以使用检测墙壁和垂直物体的激光测距仪构建周围环境的地图；不需要有关机器人位置和方向的数据
2. Positioning Control for the Mobile Robot LIPI Articulated Robot Arm Based on PD Control Approach [J] . Estiko Rijanto, Roni Permana Saputra, Hendri Maja Saputra International Journal of Applied Engineering Research . 2013,第4期

机译：基于PD控制方法的移动机器人LIPI铰接机械臂定位控制。
3. GA BASED SENSOR PLACEMENT AND CONTROL DESIGN FOR REACTIVE NAVIGATION OF MOBILE ROBOTS [J] . XIAOCHUAN WANG, SIMON X. YANG, MAX Q.-H. MENG International Journal of Information Acquisition . 2005,第2期

机译：基于GA的移动机器人主动导航传感器布置与控制设计。
4. Placement control of mobile robots based on position state and environmental map information [C] . Saitou Takaaki, Uchimura Yutaka France-Japan Congress;Europe-Asia Congress on Mechatronics . 2014

机译：基于位置状态和环境地图信息的移动机器人放置控制
5. A framework for roadmap-based navigation and sector-based localization of mobile robots. [D] . Kim, Jinsuck. 2004

机译：移动机器人基于路线图的导航和基于扇区的本地化的框架。
6. Development of Magnetic-Based Navigation by Constructing Maps Using Machine Learning for Autonomous Mobile Robots in Real Environments [O] . Takumi Takebayashi, Renato Miyagusuku, Koichi Ozaki 2021

机译：使用机器学习在真实环境中使用机器学习的地图制定磁性导航
7. Building volumetric maps with cooperative mobile robots and useful information sharing : a distributed control approach based on enthropy [O] . Rocha Rui Paulo Pinto da 2006

机译：使用协作移动机器人和有用信息共享构建体积图：基于enthropy的分布式控制方法

Placement control of mobile robots based on position state and environmental map information

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