2004 Fiscal Year Final Research Report Summary
Development of Co-operative Distributed Outdoor Type Lawn Mowing System by Dynamical Task Allocation of Small-Size Robots
| Project/Area Number |
15580229
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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 |
Agricultural information engineering
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| Research Institution | Future University-Hakodate |
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Principal Investigator |
MIKAMI Sadayoshi Future University - Hakodate, Systems information Sciences, Professor, システム情報科学部, 教授 (50229655)
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| Co-Investigator(Kenkyū-buntansha) |
OSAWA Eiichi Future University - Hakodate, Systems information Sciences, Professor, システム情報科学部, 教授 (60325884)
SUZUKI Keiji Future University-Hakodate, Systems information Sciences, Professor, システム情報科学部, 教授 (10250482)
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| Project Period (FY) |
2003 – 2004
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| Keywords | Agricultural Robot / Autonomous Mobile Robot / Cooperative Control / Multi-Agents / Charging Station / GIS / GPS / Outdoor Robot |
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| Research Abstract |
This project is to develop a lawn-mowing system by a group of small, cheap, and not so much precisely designed robots. The purpose is to realize reliable, efficient, and low-cost task performing system for a wide病rea outdoor task. In this research, we developed an autonomic charging system, which consists of a charging house with automatic shutter and an infrared driven homing system. This is the basis for giving autonomy for a group of robots. To allocate appropriate tasks to each robot, we developed an on-line task allocation system that performs allocation during communication by a dynamic communication channel connected by ad-hoc network. The design and tuning of the algorithm is based on an agent platform simulator by OAA architecture. The on-line connection and communication in ad-hoc network is realized by a transport protocol based on an SOAP message, which realizes rich communication involving status of machines and even for communication. Finally, we could develop an automatic fail-recovery algorithm, which is important issue of the outdoor robot designed at low cost and imprecise. The method is based on a trial-and-error recovery, with the acquisition of experience for successful escape, which then allows the robot to find an efficient way to escape for a similar situation of stuck.
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Research Products
(13 results)
