1A1-G19 通信範囲から外れた遠隔操縦ロボットの自律移動による通信回復

概要

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This paper describes about communication recovery of a remote control robot which accidentally went beyond the range of radio communication. Remote control robot turns into actual utilization for air surveillance, resource exploration, planet exploration and USAR (urban search and rescue). For actual utilization of remote control robot, radio communication is one of the serious problems. It not only restricts the activity of remote control robot but also discourages an operator of the robot. Even if one robot has great hardware and software, it can move tens of meters only. The lack and delay of sensor data makes operator nervous. We cope with the difficulty by using of the slight autonomy moving from darkness of the radio communication to safe area. Proposed system consists of RSSI (received signal strength indication) monitor, path recorder and autonomous backtracking software. It changes the robot from remote control mode to backtracking mode, and navigates the robot along the past passed path. In the experiment in office building environment, it shows that our system enabled to resume a control of our USAR robot after disconnection of wireless LAN.
一般社団法人日本機械学会の論文