Distribution and Communication of Multi-robot System for Detection in the Underground Mine Disasters

摘要：

For the environmental detection, survivors searching and long distance communication in the underground mine disasters, a heterogeneous multi-robot system was built based on the wireless sensor network (WSN). Two kinds of robots were proposed, and the circumstance was analyzed for the obstacle surmounting capability of the robots. A chain-based wireless sensor network was established with the robot as the sensor node. And a strategy of distribution of the nodal robots was proposed. The modular circuit was built under the Zigbee IC- CC2430, and the chain-based topology was implemented by trimming of the protocol stack Zigbee2006. The simulation based on NS-2 and the experiments showed that the strategy of the robots distribution and the method of communication satisfied the multi-robot systems communication in the underground mine disasters.

作者: Liu Gangfeng Zhu Lei Han Zhenfeng Zhao Jie

作者单位: State Key Laboratory of Robotic Technology and System,Harbin Institute of Technology,Harbin,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1439-1444

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）