2013 Fiscal Year Final Research Report
Network based Control composed of autonomous robots via wireless communication
| Project/Area Number |
23560297
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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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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Shibaura Institute of Technology |
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Principal Investigator |
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| Co-Investigator(Renkei-kenkyūsha) |
NATORI Kenji 千葉大学, 大学院工学研究科, 助教 (70545607)
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| Project Period (FY) |
2011 – 2013
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| Keywords | ネットワークベース制御 / 遠隔操作 / 無線中継 / レスキューロボット / 遅れ時間系 / 通信遅延 / ネットワークロボット / 自律移動 |
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| Research Abstract |
This research was conducted to develop a control scheme which optimizes the position of autonomous mobile robots that construct a wireless network by multi-hop relay of the radio communication and expand the area of activities. The relay robots dynamically move following the leader rescue robot which is controlled by a human operator. In this research, a control method that considers the received signal strength and relative location among relay robots was proposed for the optimal deployment of relay robots. In the network system, the time delay in the transmission is crucial, thus a control scheme that reduced conservativeness of the stability condition was proposed. Using robots developed in this research, experiments were conducted for evaluation of the proposed methods and the results confirmed the validity of the proposed methods.
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