2024-03-29T15:04:52Zhttps://ipsj.ixsq.nii.ac.jp/ej/?action=repository_oaipmhoai:ipsj.ixsq.nii.ac.jp:001866702023-11-14T00:51:14Z06164:06165:09440:09441
Evaluation for ROS based Distribute Robot Searching SystemEvaluation for ROS based Distribute Robot Searching Systemengmultiple robots,ROS,Iatency,communication performancehttp://id.nii.ac.jp/1001/00186582/Conference Paperhttps://ipsj.ixsq.nii.ac.jp/ej/?action=repository_action_common_download&item_id=186670&item_no=1&attribute_id=1&file_no=1Copyright (c) 2017 by the Information Processing Society of JapanShibaura Institute of TechnologyShibaura Institute of TechnologyLiu, YifanMidori, SugayaCurrently, multiple robots are expecting to provide useful services corporately at the event of disaster and medical treatment, nursing care, home security etc.. Autonomic robots such as searching and following people should have the functionalities of collecting data from its physical environment and analyzing to share the information to each other. We build up these mechanisms with the ROS middleware that had been widely used as a software framework for robotic systems. ROS provides a structured communication layer above host operating system and can be used to build a distribute system. However, while we bring our ROS based distribute searching system from local network to the internet, it did not work as well as expected because of latency in this system which should be improved. In this research, in order to make this system to achieve appropriate performance, we did a preliminary experiment to make an evaluation of ROS communication performance.Currently, multiple robots are expecting to provide useful services corporately at the event of disaster and medical treatment, nursing care, home security etc.. Autonomic robots such as searching and following people should have the functionalities of collecting data from its physical environment and analyzing to share the information to each other. We build up these mechanisms with the ROS middleware that had been widely used as a software framework for robotic systems. ROS provides a structured communication layer above host operating system and can be used to build a distribute system. However, while we bring our ROS based distribute searching system from local network to the internet, it did not work as well as expected because of latency in this system which should be improved. In this research, in order to make this system to achieve appropriate performance, we did a preliminary experiment to make an evaluation of ROS communication performance.組込みシステムワークショップ2017論文集201718202018-03-022018-03-02