Technologies of Augmented and Virtual Realities as Means for Compensation for the Information Insufficiency of Microrobots

Abstract

The article presents techniques for compensation for microsystems' information insufficiency, based on the use of augmented and virtual realities. The constructed system of virtual reality makes it possible to reduce considerably the volumes of information of the robotic system transferred between its components. The article also contains description of the information system's structure, of a marker, of a method for synthesis of a dynamic two-dimensional code, and virtualization of the sensors. Collisions are avoided by keeping strictly the buffer distances and consistent communication between the robots with the use of 2D marker and quadrant codes, which are shown in the mobile robots. Obstacle identification is implemented due to the perceiving ability of the robotic agents in a collective and the ability of a global vision system. Often obstacles cannot be identified through vision mechanisms. In this case, virtual objects in global maps may be used instead of small real obstacles, which are located by the robot local sensors only. Sharing the obstacle information within the group can be achieved by broadcasting signals to the control or trajectory planning system with the help of markers of augmented reality. During experiments the technology of the virtual obstacles and artificial "loops (comet tail) "for synthesis of new trajectories was realized. The authors demonstrate the ways of using the offered techniques for a synthesis of the neural network system planning of the trajectories for a microrobot collective.