Bit Rate Improvement of Spatially Seamless Local Communication System using Multiple Frequencies
Tetsuro AKAGAWA, Yoshikazu Arai, Shintaro Imai, Toshimitsu Inomata · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2017
In multiple robots environment, it is an essential technique that the robots avoid collisions with each other. To achieve efficient collision avoidance, it is desirable that each robot avoids surrounding robots considering not only their positions but also their behaviors. We have developed spatially seamless local communication system in order to exchange behaviors between the robots. This system ensures spatially seamless communicable area towards robot's surroundings by rotating a transmitter and a receiver. However, a bit rate of communication using the system is insufficient. Although the system has redundant frame structure to detect interference between signals from different transmitters, it causes decrease of the bit rate. In this paper, we aim to improve the bit rate by reducing frame length of transmission pulse while retaining interference detection function.