Development of an Infrared Sensory System with Local Communication Facility for Collision Avoidance of Multiple Mobile Robots
Sho’ji Suzuki*, Yoshikazu Arai**, Shin'ya Kotosaka***, Hajime Asama****,Hayato Kaetsu**** and Isao Endo****
*Faculty of Engineering, Osaka University, 2-1 Yamadaoka, Suita-shi, Osaka 565, Japan
**Graduate School, Saitama University, 255 Shimookubo, Urawa-shi, Saitama 338, Japan
***Kawato Dynamic Brain Project, ERATO, JST, 2-2 Hikaridai, Seika-cho, Sagara-gun, Kyoto 619-02, Japan
****The Institute of Physical and Chemical Research (RIKEN), 2-1 Hirosawa, Wako-shi, Saitama 351-01, Japan
In this paper, we propose a method for detecting both robots and obstacles using a local infrared communication system. If every robot in the environment has its own ID number and transmits it, then a robot can detect another robot by receiving the ID number. The robot can also detect an obstacle by receiving its own ID number which is reflected by the obstacle. We also propose a method of detecting interference during transmission when several robots are transmitting to one robot. Finally, we describe the development of a sensor system named LOCISS (locally communicable infrared sensory system) and basic experiments are carried out in order ,to evaluate its performance.