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A TASK MANAGEMENT AND CONTROL SYSTEM FOR MULTI-ROBOT USING WIRELESS LAN

Published by the American Society of Agricultural and Biological Engineers, St. Joseph, Michigan www.asabe.org

Citation:  Automation Technology for Off-Road Equipment,Proceedings of the 7-8 October 2004 Conference (Kyoto, Japan)Publication Date 7 October 2004  701P1004.(doi:10.13031/2013.17818)
Authors:   K. Ishii, N. Noguchi
Keywords:   Wireless LAN, Multi-robot, Task management system

This study aims to develop a system of managing multiple robots using wireless LAN. The major problems in agricultural robot research are safety and cost. The sensors used for agricultural robot are expensive, the dynamics of such robots are time-variant and nonlinear, and operation is required to be highly accurate. One solution is to use multiple robots whose management is integrated such that they work cooperatively. Toward verification of the applicability of such a system that we developed, two tests were conducted. One tested the control of two-vehicle operation, for example, operation of a harvester followed by a wagon. Wireless LAN was used for communication, and TCP/IP was used as the communication protocol. Latitude, longitude, heading angle and status of vehicle were the communication data. The other tested management of two robots, toward development of a multi-robot system. The two robots were able to work independently of each other by using GPS and gyroscope, and to transmit their data to the management host. The management host received data on operation status from each robot. To change the status of any of the robots, a farmer can use this system to transmit operation commands.

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