TY - GEN
T1 - Distribution and communication of multi-robot system for detection in the underground mine disasters
AU - Liu, Gangfeng
AU - Zhu, Lei
AU - Han, Zhenfeng
AU - Zhao, Jie
PY - 2009
Y1 - 2009
N2 - 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 robot's distribution and the method of communication satisfied the multi-robot system's communication in the underground mine disasters.
AB - 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 robot's distribution and the method of communication satisfied the multi-robot system's communication in the underground mine disasters.
UR - https://www.scopus.com/pages/publications/77951452952
U2 - 10.1109/ROBIO.2009.5420386
DO - 10.1109/ROBIO.2009.5420386
M3 - 会议稿件
AN - SCOPUS:77951452952
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 1439
EP - 1444
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -