COMMUNICATION SYSTEMS FOR MULTI ROBOT SYSTEMS

摘要

This paper dealt with a communication system between the field mobile robot and the control station. The control station had two functions; one was the function as a control system that could gather vehicle and travel status from a robot working at field, and send a control commands to the robots. another was the function as a decision support system that determined next task by collecting and analyzing the data of the field and crop status. In the research, both the data formats, from robot to control station, and control station to robot, were proposed. Communication test based on proposed data formats was carried out. The control station could monitor the updated status of the mobile robot. And the robot could change own behavior including an emergency stop by receiving the control command from the control station. Using this communication system, field maps including terrain and required engine power in rotary tillage were made by a GIS software.