1、毕业设计(或论文)说明书共21页1附录2AnIntegratedSystemforCommandandControlofCooperativeRoboticSystemsChristopherM/Clark/EricW/Frew/HenryL/Jones/&StephenM/RockAerospaceRoboticsLabDepartmentofAeronautics&AstronauticsStanfordUniversitychrisc/ewf/hlj/rocksun-valley/stanford/eduAbstract/Presentedisanexperimentalinvestig
2、ationintothreeissuesthatenableincreasedautonomousfunctionalitywhenusingmobilerobots/Theseissuesare(1)interfacingasingleuserwithmultiplerobots/(2)motionplanningformultiplerobots/and(3)robottrajectorygenerationfortargettracking/Forthisresearch/theMicroAutonomousRoverS(MARS)testplatformwasdevelopedthat
3、providesameansforimplementingthistechnologyonlaboratoryrobotstocarryouttasksincludingcollision-freewhichasingleuserisabletocommandagroupofrobots/Experimentalresultsarepresentedinmotionandtargettracking/Keyword/multi-robotsroverMARStestplatformtargettrackingtrajectorymonitorMaintext/1/IntroductionCur
4、rently/remoteroboticsystemsrequiremanyhumanstooperateasinglerobot/Thegoalforfuturesystemsistorequireonlyoneoperatorformanyrobots/Forexample/futurespacestructureconstructionwouldbenefitfromtheavailabilityofalargegroupofrobotsthatcanbeoperatedbyaFigure1/RoversfromtheMARStestplatform/Smallgroupsofhuman
5、s/Whiletherehasbeenasignificantamountofresearchtowardstheoperationofsingleremoterobots/moreworkisstillrequiredtowardstheoperationofgroupsofrobots/Inparticular/anincreaseddegreeofautonomymustbegiventotherobots/Torealizethisautonomy/avarietyoffundamentalcapabilitiesmustbeenabledthatinclude/毕业设计(或论文)说明
6、书共21页2(1)Providinganinterfacefromwhichadequateinformationfordecision-makingisavailabletothehuman/andcommandstooneorseveraloftherobotscanbeexecuted/(2)Providingautonomous/real-timeconstructionofcollision-freetrajectoriesforallrobotsinthegroup/(3)Providingrobottrajectorygenerationthatenablestrackingof
7、movingobjects/Inpreviouswork/weaddressedeachoftheseissues/Jones6developedaninterfacethatallowsasinglehumantooperatemanyrobots；Clark2designedamulti-robotmotionplanner；andFrew4designedatrajectorygeneratorthatprovidesnear-optimalsolutionsforobjectmotionestimation/Figure1/RoversfromtheMARStestplantformI
8、nthispaper/wepresentanintegratedsystemdemonstrationofthesetechnologies/Thepaperisorganizedasfollows/Section2providesabriefdescriptionofeachofthethreeresearchprojects/InSection3/theMicroAutonomousRoverS(MARS)testplatformanditsapplicationtothisresearchisdescribed/Section4detailsafinaldemonstrationthat
9、summarizesthepreviousresearchasanintegratedsystem/ConclusionsarepresentedinSection5/2/TechnologicalIssues2/1/HumanInterfaceForasinglehumantooperateamulti-robotsystem/thehumanmusthaveaccesstoallrelevantinformationabouttheremoteenvironmentsothatappropriatecommandscanbeexecuted/Also/thehumanmustbeprovi
10、dedwithameansofexecutingthesecommandstooneorseveraloftherobots/In6/Jonesdevelopedaninterfacebasedondialoguesbetweenthehumanandtherobotsasaneffectivemethodforoperatingmultiplerobots/Inparticular/Jonesaddressedthefollowingissues/毕业设计(或论文)说明书共21页3-Establishingthestructureandscopeofthedialogue-Creatinga
11、robotinfrastructurecapableofconductinganeffectivedialogue-Determiningmethodsfordealingwiththesocialconventionsofdialogues-Developinganinterfacethatallowstheoperatortocarryoutthedialoguewiththeroboticsystem/Hisresultisanimplementationofadialogueinteractionpatternedafterthetask-orientedDialoguescommon
12、inhumanteams/Thehypothesisisthatsimilardialoguescanplayausefulrolewithinhuman-robotteams/TheinterfacewasimplementedusingOpenGLtoprovideathree-dimensionalviewoftherobotenvironment/Anexamplescreen-shotisshowninFigure2/Dialoguethroughtheinterfacetakesplaceelectronicallyratherthanthroughvoice/Thedialogu
13、ebeginswhenobjectsareselectedbyclickingonthemonthescreen/Theinterfacethenresolvestheidentityoftheobjectandtherobotthatsensedtheobject/Theinterfacewaitsuntilaresponsefromthecorrectrobothasbeenreturnedintheformofalistoftasksthattherobotcanaccomplishonthatobject/Thislististhendisplayedinadialogthatpops
14、upnexttotheobject/Theusercanselectfromthislistoftasks/andthecompletecommandofrobot/task/objectissenttotherobotforexecution/Figure2/Screenshotofthehuman-robotinterface/Thescreen-shotinFigure2providesanexampleoftheinterfaceinuse/Tworobots(denotedbywhitecylinders)and3objectsarelocatedonthetestbedworksp
15、ace/The毕业设计(或论文)说明书共21页4operatorhasqueriedtherobotagentstodeterminewhattaskscanbeperformedontheobjectattheleftsideofthescreen/Apop-upmenuhasappearedwithalistofthequeryresults/Jonesshowedthatitispossibletobuildadialogue-basedinteractionthatenablesthecontrolofmultiplerobots/Thisinteraction/asimplement
16、edinavirtualthree-dimensionalworld/providedanintuitivepoint-and-clickmethodfordeterminingthecapabilitiesoftherobotintheappropriatecontext/andenabledtheoperatortoparticipateintheresourcemanagementandtaskplanningfortherobots/2/2MotionPlanningWhenlargegroupsofrobotsandmovingobstaclesareworkingtogetherw
17、ithinadesignatedarea/high-levelmotionplanningisrequiredtoavoidcollisions/Continuouscommunicationbetweenallrobotsmaynotbefeasible/andnosystemofsensorscanprovideglobalknowledge/Also/tofunctioninadynamicenvironmentwithmovingobstacles/thesystemmustbeabletoreactquickly/Forthistypeofmulti-robotsystem/amot
18、ionplannerthatdoesnotneedglobalknowledgeorhighbandwidthcommunication/butthatcanstillplaninreal-time/isrequired/AmotionplanningsystemthatmeetsthisrequirementwasdevelopedbyClark2/ThealgorithmpresentedwasbasedontheplannerdevelopedbyHsuandKindel5/TheirworkdemonstratestheuseofaKinodynamicRandomizedMotion
19、Plannerforasinglerobotmaneuveringaroundstationaryandmovingobstacles/Tohandlemorethanonerobot/theKinodynamicRandomizedMotionPlannerwasextended/Intheextendedplanner/whenrobotsdetectoneanotherusinglocalsensors/theycommunicatewitheachOther/usingaprioritysystem/therobotscoordinatetheirmotionplanstoavoidc
20、ollisions/Eachrobotcreatesaplanwithknowledgeofonlythefewobstaclessurroundingit/Byplanningaroundonlythoseobjectswithintherobotslocalarea/themotionplanningproblemisgreatlysimplifiedleadingtodecreasedplanningtimes/Whennewobjectsentertherobotsfieldofview/are-planiscalledfortoensurethattherobotstrajectoryiscollision-free/Anexampleofasimulationinvolving10rovers/and5stationaryobstaclesisprovidedifFigure3/Smallercirclesrepresentthemicro-roversasviewedfromabove/whilecrosses