2023 Fiscal Year Final Research Report
A Study on Technology Fusion of Distributed Cooperative Control and Wireless Distributed Networks
| Project/Area Number |
21K04070
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Review Section |
Basic Section 21020:Communication and network engineering-related
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| Research Institution | Meijo University |
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Principal Investigator |
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| Project Period (FY) |
2021-04-01 – 2024-03-31
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| Keywords | 制御通信 / 無線制御 / 自律分散制御 / ドローン / Wi-Fi RTT / Robot Operating System / ARマーカー / 屋内測位 |
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| Outline of Final Research Achievements |
The purpose of this study is to improve the control performance of a system that performs distributed cooperative control of robots and drones over a wireless distributed network under limited wireless communication resources. Specifically, a data transfer method that compensates for control information lost due to communication collisions is proposed for wireless autonomous decentralized control of mobile robots using the CSMA/CA protocol used in Wi-Fi, etc., and achieves higher control performance. In addition, indoor drone positioning methods using AR markers and Wi-Fi RTT are investigated for an indoor flying drone with an open-source flight controller and robot operating system (ROS), and the positioning accuracy is experimentally clarified.
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| Free Research Field |
通信・ネットワーク工学
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| Academic Significance and Societal Importance of the Research Achievements |
無線通信による連携が不可欠なモバイルロボットやドローンの協調制御では，限られた無線リソース下でいかに制御性能を向上させるかが最も大きな課題の一つである．本研究は，その課題に対して，通信と制御の両面からの最適解へアプローチするものであり，その理論的側面は，通信設計における制御理論の応用，制御設計における通信理論の応用といった幅広い学術的な展開が期待できる．応用面においても，オープンソースフライトコントローラとRobot Operating System(ROS)による屋内飛行ドローンについてARマーカーやWi-Fi RTTを用いた屋内測位精度を明らかにしたことの意義は小さくない．
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