Sensor Coordinationfor Multi Mobile Robots Systems

• Autores: Beatriz López Boada, Luis Enrique Moreno Lorente, Miguel Ángel Salichs Sánchez-Caballero
• Localización: Distributed Autonomous Robotic Systems 3 / coord. por Tim Lueth, Rudiger Dillmann, Paolo Dario, Heinz Wörn, 1998, ISBN 9783642721984, págs. 13-22
• Idioma: inglés
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• Resumen

  • In this paper we present a new algorithm which permits synchronisation of active sensors firing and reception of signals in the presence of several mobile robots in the same environment. When robots operating in the same environment are equipped with active sensors such as ultrasonic, IR, laser, etc., that is to say, sensors that base their measurement On the transmission and reception of signals, these can interfere mutually giving rise to erroneous measurement which provoke the robots to collide or run into objects found in their trajectory. The proposed algorithm is intended to eliminate this interference between signals fired from different robots operating in the same zone, this is achieved by establishing a firing sequence, in such way that message passing between the robots determine which robot has to fire its sensors.