Knowledge sharing among multiple autonomous mobile robots through indirect communication using intelligent data carriers

摘要

This paper proposes a new strategy for knowledge sharing among multiple autonomous mobile robots using newly developed intelligent data carriers (IDCs) to make the multi-robot system more flexible and robust against complex environmental conditions and, to reduce the amount of global communication for mutual exchange of information which is useful locally in a limited area. The IDC is an immobile but portable device (data carrier) for information storage and management with a unique mushroom-like structure to be easily handled by a forklift mechanism which can be mounted on actual mobile robots. A robot can place a unit at a specific location in its working environment and write locally relevant knowledge into the unit. Other robots can share the knowledge which should indicate the existence of specific instruments, objects or topographies, e.g., dead ends, drop-offs, steps, etc., by reading from the placed IDC units. The handling method of the IDC unit is examined through the experiment using an omni-directional mobile robot. It is shown that the robot succeeded in placing the unit at an appropriate location to share the information indicating that a dead end exists.