论文标题
通过数据分配服务为多个自动移动机器人提供基于成本图的分层流量管理
Layered Cost-Map-Based Traffic Management for Multiple Automated Mobile Robots via a Data Distribution Service
论文作者
论文摘要
这封信建议基于分层成本图的多个自动移动机器人（AMR）的流量管理。多个AMR通过数据分发服务（DDS）进行通信，该数据由同一DDS域中的主题共享。每一层的成本都被主题操纵。域中的流量管理服务器将发送或接收到AMR的主题。使用分层成本图，提出并实施了禁止过滤器，车道滤波器，车队层和区域过滤器的新概念。禁止过滤器可以帮助用户设置禁止AMR侵入的区域。车道滤波器可以根据角度图像帮助设置单向方向。车队层可以帮助AMR通过流量管理服务器共享其位置。该区域过滤器请求或接收一个独家区域，该区域只能由一个AMR占用，该区域可以从流量管理服务器中占据。所有层都用现实世界AMR对实验验证。每个区域都可以使用用户定义的图像或基于文本的参数文件配置。
This letter proposes traffic management for multiple automated mobile robots (AMRs) based on a layered cost map. Multiple AMRs communicate via a data distribution service (DDS), which is shared by topics in the same DDS domain. The cost of each layer is manipulated by topics. The traffic management server in the domain sends or receives topics to each of AMRs. Using the layered cost map, the new concept of prohibition filter, lane filter, fleet layer, and region filter are proposed and implemented. The prohibition filter can help a user set an area that would prohibit an AMR from trespassing. The lane filter can help set one-way directions based on an angle image. The fleet layer can help AMRs share their locations via the traffic management server. The region filter requests for or receives an exclusive area, which can be occupied by only one AMR, from the traffic management server. All the layers are experimentally validated with real-world AMRs. Each area can be configured with user-defined images or text-based parameter files.
