Mobile robot deployment based on Voronoi diagram

Yutaka Uchimura, Takaaki Imaizumi, Hiroyuki Murakami

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of 2011 1st International Symposium on Access Spaces, ISAS 2011
ページ71-76
ページ数6
DOI
出版ステータスPublished - 2011 8 23
イベント2011 1st International Symposium on Access Spaces, ISAS 2011 - Yokohama, Japan
継続期間: 2011 6 172011 6 19

出版物シリーズ

名前Proceedings 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

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Electrical and Electronic Engineering

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