Mobile robot deployment based on Voronoi diagram

Yutaka Uchimura, Takaaki Imaizumi, Hiroyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

This paper describes a new method for deployment of wireless relay nodes. When applying rescue robots in building or underground city, the wireless radio is attenuated significantly, thus multi-hop extension by relay of wireless communication is required. The goal of research is to deploy relay wireless nodes to maintain connectivity from the base station to the leader robot which explores around the front line. To move the relay robot autonomously, distributed algorithm is required. The method overcomes conventional distributed algorithm, when applying it for wireless relay purpose. In the method, a virtual force which drives a node to the centroid of Voronoi neighbors and it works to maintain the connectivity of wireless communication. The evaluation of proposed method is conducted by numerical simulations and experiments. In the simulation, one or two leader robots are assumed. In the experiment, a mobile robot equipped with omni-wheels is used.

Original languageEnglish
Title of host publicationProceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
Pages71-76
Number of pages6
DOIs
Publication statusPublished - 2011 Aug 23
Event2011 1st International Symposium on Access Spaces, ISAS 2011 - Yokohama, Japan
Duration: 2011 Jun 172011 Jun 19

Publication series

NameProceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011

Conference

Conference2011 1st International Symposium on Access Spaces, ISAS 2011
CountryJapan
CityYokohama
Period11/6/1711/6/19

    Fingerprint

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

Cite this

Uchimura, Y., Imaizumi, T., & Murakami, H. (2011). Mobile robot deployment based on Voronoi diagram. In Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011 (pp. 71-76). [5960923] (Proceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011). https://doi.org/10.1109/ISAS.2011.5960923