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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Design and Control of Robotic Highway Safety Markers
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Design and Control of Robotic Highway Safety Markers

机译：机器人高速公路安全标志的设计与控制

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Proper traffic control is critical in highway work zone safety. Traffic control devices such as signs, barricades, cones, and safety barrels are used. Accidents can occur because of improper work zone design, improper work zone housekeeping, and driver negligence. Automated safety devices could improve work zone design and housekeeping and therefore increase safety. This paper presents a mobile safety barrel robot. The robotic safety barrels can self-deploy and self-retrieve-removing workers from this dangerous task. The robots move independently so they can be deployed in parallel and can quickly reconfigure as the work zone changes. The system must be reliable and have a low per-robot cost. A robot that malfunctions could create a significant hazard. Also, multiple barrels are used and they are often struck by vehicles, therefore a high replacement cost is not practical. A six-robot system, which consists of a lead robot and five low-cost barrel robots, is described. A distributed planning and control approach is presented that reduces the per-robot cost by centralizing the intelligence and sensing while keeping communication bandwidth low by distributing local control. Test results are presented including a statistical analysis of the performance of the local robot controllers and field tests of the full system.
机译：正确的交通控制对高速公路工作区的安全至关重要。使用了交通控制设备，例如标志，路障，锥形和安全桶。由于工作区设计不当，工作区内务管理不当以及驾驶员疏忽，可能会发生事故。自动化的安全装置可以改善工作区的设计和内部管理，从而提高安全性。本文提出了一种移动式安全桶机器人。机器人安全桶可以自动部署和自动撤离该危险任务的工人。机器人独立移动，因此可以并行部署，并可以随着工作区域的变化而快速重新配置。该系统必须可靠并且每台机器人的成本较低。发生故障的机器人可能会造成重大危险。而且，使用了多个枪管，并且它们经常被车辆撞击，因此高更换成本是不实际的。描述了一个六机器人系统，该系统由一个牵头机器人和五个低成本的桶式机器人组成。提出了一种分布式计划和控制方法，该方法可以通过集中智能和传感来降低每台机器人的成本，同时通过分配本地控制来保持较低的通信带宽。给出了测试结果，包括对本地机器人控制器性能的统计分析和整个系统的现场测试。

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