Deployment control of wireless multi-hop-relay mobile robots based on voronoi partition

Takaaki Imaizumi, Hiroyuki Murakami, Yutaka Uchimura

研究成果: Article査読

抄録

This paper describes a new method for the deployment of wireless relay nodes. When using rescue robots in a building or underground city, the wireless radio signal is attenuated significantly, and therefore, multi-hop extension involving wireless communication relays is required. The goal of this research is to deploy wireless relay nodes to maintain connectivity between the base station and the leader robot that explores around the front line. To move the relay robot autonomously, a distributed algorithm is required. The proposed method is suitable when it is applied for wireless relay purposes. In the method, a virtual force drives a node to the centroid of Voronoi neighbors, and it maintains the connectivity of wireless communication. The proposed method is evaluated by conducting 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.

本文言語English
ページ(範囲)381-388
ページ数8
ジャーナルIEEJ Transactions on Industry Applications
132
3
DOI
出版ステータスPublished - 2012

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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