階層型コストマップとDDS通信による複数自律移動ロボットの交通管理
Layered Cost-Map-Based Traffic Management for Multiple Automated Mobile Robots via a Data Distribution Service
複数の自律移動ロボットの交通管理を、DDSで共有される階層型コストマップを用いて実現し、禁止エリアや一方通行レーン、 fleet共有、排他領域などのフィルタを提案・実機検証した。
著者: Seungwoo Jeong, Taekwon Ga, Inhwan Jeong, Jongkyu Oh, Jongeun Choi
分類: cs.RO, cs.MA, cs.SY, eess.SY
原文アブストラクト
This letter proposes traffic management for multiple automated mobile robots (AMRs) based on a layered cost map. Multiple AMRs communicate via a data distribution service (DDS), which is shared by topics in the same DDS domain. The cost of each layer is manipulated by topics. The traffic management server in the domain sends or receives topics to each of AMRs. Using the layered cost map, the new concept of prohibition filter, lane filter, fleet layer, and region filter are proposed and implemented. The prohibition filter can help a user set an area that would prohibit an AMR from trespassing. The lane filter can help set one-way directions based on an angle image. The fleet layer can help AMRs share their locations via the traffic management server. The region filter requests for or receives an exclusive area, which can be occupied by only one AMR, from the traffic management server. All the layers are experimentally validated with real-world AMRs. Each area can be configured with user-defined images or text-based parameter files.
