TY - GEN
T1 - Cooperative self-positioning system for multiple mobile robots
AU - Yoshida, T.
AU - Ohya, A.
AU - Yuta, S.
N1 - Publisher Copyright:
© 2003 IEEE.
PY - 2003
Y1 - 2003
N2 - 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.
AB - 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.
KW - Control systems
KW - Coordinate measuring machines
KW - Costs
KW - Mobile robots
KW - Navigation
KW - Position measurement
KW - Robot kinematics
KW - Robot programming
KW - Robot sensing systems
KW - Ultrasonic variables measurement
UR - http://www.scopus.com/inward/record.url?scp=12844268047&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=12844268047&partnerID=8YFLogxK
U2 - 10.1109/AIM.2003.1225099
DO - 10.1109/AIM.2003.1225099
M3 - Conference contribution
AN - SCOPUS:12844268047
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 223
EP - 227
BT - Proceedings - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003
Y2 - 20 July 2003 through 24 July 2003
ER -