電波強弱監視に基づく複数無線モジュールの順次投下と環境地図作成を行う小型飛行ロボットの実現  [in Japanese] Simultaneous Environment Modeling and Deployment of Network by Dropping Wireless Modules Based on Radio Field Intensity Measurement Using an Micro Aerial Robot  [in Japanese]

Access this Article

Author(s)

    • 趙 漠居 Zhao Moju
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 川崎 宏治 Kawasaki Koji
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 垣内 洋平 Kakiuchi Yohei
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 岡田 慧 Okada Kei
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology
    • 稲葉 雅幸 Inaba Masayuki
    • 東京大学大学院情報理工学系研究科 The University of Tokyo, Graduate School of Information Science and Technology

Abstract

In this paper, we propose a new system for field robot under the environment without network infrastructure, called Simultaneous Environment-Modeling and Networking (SEMAN). With this system, field robot deploys the mobile wireless module to build up a wireless network for communication with base station, while modeling the environment such as mapping for navigation simultaneously. In our research, we apply this new system to aerial robot(quad-rotor), which can drop wireless modules in order. In this paper, firstly, we propose a deployment method of on-demand network, by dropping wireless modules based on the measurement of radio field intensity. We also present the topology of wireless network generated from wireless modules as well as the route search method for data transmission from robot to base station. Secondly, we show the control mechanism of quad-rotor and robot platform using the method of Simultaneous Localization and Mapping(SLAM) for navigation. Finally, we show the effectiveness of this SEMAN system quad-rotor in the flight experiment in indoor environment.

Journal

  • Journal of the Robotics Society of Japan

    Journal of the Robotics Society of Japan 32(7), 643-650, 2014

    The Robotics Society of Japan

Codes

  • NII Article ID (NAID)
    130004697455
  • Text Lang
    JPN
  • ISSN
    0289-1824
  • Data Source
    J-STAGE 
Page Top