2007 Fiscal Year Final Research Report Summary
Multi-robot network system for rescue operation
| Project/Area Number |
18500061
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Computer system/Network
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| Research Institution | Osaka City University |
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Principal Investigator |
SUGIYAMA Hisayoshi Osaka City University, Graduate School of Engineering, Associate Professor (20264799)
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| Co-Investigator(Kenkyū-buntansha) |
TSUJIOKA Tetsuo Osaka City University, Graduate School of Engineering, Lecturer (40326252)
HARA Shinsuke Osaka City University, Graduate School of Engineering, Professor (80228618)
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| Project Period (FY) |
2006 – 2007
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| Keywords | Rescue system / USAR / Ad Hoc Network / Multi-Agent / Autonomous Mobile Robot / 群ロボット |
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| Research Abstract |
The original targets of this research are, investigation of (1) the system operation scheme, (2) the reliability of the system, and (3) the effeciency of network transmission, concerning the our proposal: victim detection system. The results are the followings.
In relation with (1) and (2), SRRC (Search and Relay Robot Classification) method is proposed and the performance is confirmed by computer simulation. In SRRC, each robot in the victim detection system behaves pertinently depending on the position in the network, and confirms the chain network that reaches the target point within the disaster area. Because the chain network autonomously configure and transform itself, the efficient exploration of unknown environment becomes possible. The real time exploration of disaster areas is realized with the SRRC scheme.
Here, the real time exploration is the proposal in relation with the SRRC. That means the condition for the multi-robot rescue system. This condition imposes first, the communication path must always exist between each robot and the operators at the base station, and second, the path must configured by ad hoc networking. The communication path makes it possible that the operators examine the victim that a robot detects, and therefore the reliability of the system increases.
In relation with the reliability of the system, the wireless power supplying to robots is also investigated. The network transmission method (3) must be investigated along with the chain network transformation and is studying now.
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