Harmonious Control System for Multiple Mobile Investigation Robots
Jun’ichi Takeno, Kiichirou lijima, Kozo Kato, and Sakae Nishiyama
School of Science and Technology Meiji University, 1-1-1, Higashi-mita, Tama-ku, Kawasaki, Kanagawa 214, Japan
To ensure safe and efficient operation of mobile robots in a work space, it is essential that the robots maintain global maps reliable in a given environment. The system proposed in this paper is for the study of global maps using mobile robots in order to maintain the global map information as reliable as possible. The system is a coordinate control method designed to dynamically detect specific information in global maps using robots. The basic principle of this method is the study of the information about environments using mobile robots that move along Chinese postman routes in an environment. Mobile robots are controlled to detect environmental variations represented by the discovery of impassable points, and to equalize the reliability of global maps as far as possible through their activities coordinated with other robots. This paper evaluates the harmonization of such a global map control system using mobile robots, ie. the reliability of information described in global harmonized work to equalize the reliability of global maps.