Automatic Parameter Identification for Rapid Setting Up of Distributed Modular Robots

Abstract

This paper describes a concept of a distributively placed modular robot system and a methodology of parameter identification of the system. The robot system is consist of modules which have mono-function(e.g. sensor or actuator) and radio communication. Depending on tasks, the system is constructed by attaching modules to an object or in a working area distributively. Then the modules achieve a task by their cooperation. Generally it is difficult and troublesome for users to set up a distributed system, because it is necessary to measure many parameters (e.g. position and orientation of modules) in practical use.

In our algorithm, the parameters are identified rapidly by executing motions with actuators, and observing the changes of the state with sensors. The motion which we call testing motion influences accuracy of identification because of sensing errors. Accounting for this, especially for the case of a mobile robot and a ceiling camera module, the design of modules’ testing motion is made by evaluating the influence of camera’s sensing error and dead-reckoning’s locating error. The effectiveness of the algorithm is shown in the simulation and a basic experiment.