Cooperative self-positioning system for multiple mobile robots

T. Yoshida; A. Ohya; S. Yuta

doi:10.1109/AIM.2003.1225099

Cooperative self-positioning system for multiple mobile robots

T. Yoshida, A. Ohya, S. Yuta

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

15 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 language	English
Title of host publication	Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	223-227
Number of pages	5
ISBN (Electronic)	0780377591
DOIs	https://doi.org/10.1109/AIM.2003.1225099
Publication status	Published - 2003
Externally published	Yes
Event	2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003 - Kobe, Japan Duration: 2003 Jul 20 → 2003 Jul 24

Publication series

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

Other

Other	2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Country/Territory	Japan
City	Kobe
Period	03/7/20 → 03/7/24

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

Access to Document

10.1109/AIM.2003.1225099

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). Article 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

Cooperative self-positioning system for multiple mobile robots. / Yoshida, T.; Ohya, A.; Yuta, S.
Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc., 2003. p. 223-227 1225099 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 1).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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., 1225099, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 1, 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 Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003. Institute of Electrical and Electronics Engineers Inc. 2003. p. 223-227. 1225099. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2003.1225099

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Cooperative self-positioning system for multiple mobile robots

Abstract

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Keywords

ASJC Scopus subject areas

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