Using LabVIEW and ros for planning and coordination of robot missions, the example of ERL emergency robots and university rover challenge competitions

• Autorzy: Węgierska Agnieszka , Andrzejczak Kacper , Kujawiński Mateusz , Granosik Grzegorz

Identyfikatory

DOI

10.14313/JAMRIS/2-2019/20

• Języki publikacji: EN

Abstrakty

EN

The article presents the main functionalities and principles for operating a software for multi-robotic mission coordination developed for competitions ERL Emergency Robots 2017, as well as its adaptation during University Rover Challenge. We have started with an overview of similar software used in commercial applications or developed by other research groups. Then, our solution is thoroughly described, with its user interface made in LabVIEW and the communication layer based on ROS software. Two cases of robotic competitions proved our software to be useful both for planning and for managing the mission. The system supports the operator in teleoperation and during partial autonomy of the robots. It offers reporting on the robots’ positions, Points of Interest (POI), tasks status. Reports are generated in KML/KMZ formats, and allow us to replay the mission, and analyze it.

Słowa kluczowe

EN

mission coordination; planning; robotic competitions; KML/KMZ; LabVIEW

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2019
• Tom: Vol. 13, No. 2
• Strony: 68--81
• Opis fizyczny: Bibliogr. 14 poz., rys.

Twórcy

autor

Węgierska Agnieszka

• Lodz University of Technology, Institute of Automatic Control, Stefanowskiego 18/22, Lodz, 90-924, , www: www.robotyka.p.lodz.pl

autor

Andrzejczak Kacper

• Lodz University of Technology, Institute of Automatic Control, Stefanowskiego 18/22, Lodz, 90-924, www: www.robotyka.p.lodz.pl

autor

Kujawiński Mateusz

• Lodz University of Technology, Institute of Automatic Control, Stefanowskiego 18/22, Lodz, 90-924, www: www.robotyka.p.lodz.pl

autor

Granosik Grzegorz

• Lodz University of Technology, Institute of Automatic Control, Stefanowskiego 18/22, Lodz, 90-924, www: www.robotyka.p.lodz.pl.

Bibliografia

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• [10] L. Iocchi, D. Nardi, and M. Salerno, “Reactivity and Deliberation: A Survey on Multi-Robot Systems”. In: M. Hannebauer, J. Wendler, and E. Pagello, eds., Balancing Reactivity and Social Deliberation in Multi-Agent Systems, BRSDMAS 2000. Lecture Notes in Computer Science, Springer, Berlin, Heidelberg, 2001, 9–32, 10.1007/3-540-44568-4_2.
• [11] “OMRON, LD Series – Self navigating Autonomous Intelligent Vehicle”, automation.omron.com/en/us/ products/family/LD. Accessed on:12.08.2019.
• [12] “MiR, Mobile Industrial Robots”, www.mobile-industrial-robots.com/en. Accessed on: 12.08.2019.
• [13] “Google Developers, Keyhole Markup Language”, developers.google.com/kml. Accessed on: 12.08.2019.
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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).