マルチ移動ロボット環境における衝突回避のための局所的な通信を利用したセンサシステムの開発 (<小特集>ロボットの知能化)

概要

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rights: 社団法人日本機械学会rights: 本文データは学協会の許諾に基づきCiNiiから複製したものであるrelation: IsVersionOf: http://ci.nii.ac.jp/naid/110002382322/In this paper, we propose a method for detecting both robots and obstacles using a local infrared communication system. If every robot in the environment has its own ID number and transmits it, then a robot can detect another robot by receiving the ID number. The robot can also detect an obstacle by receiving its own ID number which is reflected from the obstacle. We also propose a method for detecting interference in transmission when several robots transmit to one robot. Finally, we describe the development of a sensor system named LOCISS (locally communicable infrared sensory system) and fundamental experiments carried out to evaluate its performance.
社団法人日本機械学会の論文
1996-10-25