Application of Robot Operating System in Robot Flocks

J. Fernandes, Keye Li, J. Mirabile, Gregg Vesonder
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引用次数: 1

Abstract

Flocking behavior is an exercise in both control and coordination. Members need to move in near-perfect time with each other to maintain a safe, but compact, distance amongst themselves. This balance could have a number of useful applications, ranging from automated vehicles to power grid coordination. Moreover, per Reynolds (1987), flocking behavior can be summarized as an algorithm, which automated systems can easily consume. Inspired by this premise, the group blueprinted a robot flock using Turtlebot3 Burgers and Robot Operating System, or ROS. To begin, the group created an algorithm in Scratch, a graphical programming language. Per Reynolds' model, as long as each individual member knows and follows the algorithm, a flock will form without any outside influence. The group theorized that this modular approach would bide well with the ROS system of nodes and messages. By deeming each member a flocking node and having a remote “master” perform functions such as localization, the ROS framework would naturally support robot flocking. However, after transcribing their program to C++, the group found some ongoing issues in development. They struggled to adapt ROS's message commands into their program, and the Burgers' given localization program had trouble supporting a multi-robot flock. Regardless, with further research, the group still believes that ROS can give rise to a viable flock.
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机器人操作系统在机器人群中的应用
群集行为是一种控制和协调的练习。成员们需要在近乎完美的时间内彼此移动,以保持彼此之间安全而紧凑的距离。这种平衡可以有许多有用的应用,从自动驾驶汽车到电网协调。此外,根据Reynolds(1987)的观点,群集行为可以概括为一种算法,自动化系统可以很容易地使用这种算法。受此启发,该团队设计了一个使用Turtlebot3汉堡和机器人操作系统(ROS)的机器人群。首先,该团队用图形化编程语言Scratch创建了一个算法。根据雷诺兹的模型,只要每个个体成员都知道并遵循算法,就会在没有任何外部影响的情况下形成一个群体。该小组从理论上认为,这种模块化方法将与节点和消息的ROS系统很好地结合在一起。通过将每个成员视为群集节点,并让远程“主人”执行定位等功能,ROS框架自然会支持机器人群集。然而,在将他们的程序翻译成c++之后,该团队发现了一些开发过程中持续存在的问题。他们努力将ROS的信息命令调整到他们的程序中,而伯格夫妇给出的定位程序在支持多机器人群方面遇到了麻烦。无论如何,通过进一步的研究,该小组仍然相信ROS可以产生一个可行的群体。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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