Cooperation between Networked Multiple Robots for Exploration
Date Issued
2007
Date
2007
Author(s)
Quang-Tuan, Thieu
DOI
en-US
Abstract
In multiple mobile robot system, cooperation among robots usually executes through communication. With the advance in technology nowadays, each robot can be equipped with off-the-shelf wireless device following the standard IEEE 802.11. However, due to the limitation of transmission range as well as the complexity of environment and signal transmission, maintaining connection between a pair of robots while they are executing their tasks becomes difficult. We construct a wireless ad hoc network multi mobile robots system with consideration of continuous connection between two robots, the Leader and any Follower. Also, our algorithm can be applied to a group of mobile robots when we utilize the wireless environment to establish continuous sharing of information among the robots. In order to enhance the system’s performance, we build a communication framework using the multicast technique. By using this framework, one robot can easily exchange its data with others when coordination is needed. Furthermore, when keeping the connection between two robots, we enhanced the teaming stability of the whole system. Finally, with our framework we create a flexible mobile robot system in which every robot can minimize the energy in communication with the rest of team. The overall performance is validated in the simulation system and experiment.
Subjects
群組機器人
合作
無線對等式網路
信號傳送
連線維繫
群播服務
Multiple mobile robot system
cooperation
wireless ad hoc network
signal transmission
maintain connection
multicast
Type
thesis
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