Integrated operations of multi-robot rescue system with ad hoc networking

摘要

Integrated operations of a multi-robot rescue system are investigated. The system consists of a base station (BS) and autonomous mobile robots. A wireless ad hoc network connects all of them. Mobile robots coordinatedly explore a disaster area to detect victims and send their information to operators at the BS. Three related subjects are reviewed in this paper. First, autonomous chain network formations by rescue robots are investigated. The chain networks are essential for reconnaissance into distant spaces in disaster areas. Second, wireless QoS networks for multi-robot systems are investigated. This QoS scheme reserves the transmission bandwidth when a robot sends wideband signals to the BS through the chain network. Finally, wireless power supply networks for multi-robot systems are investigated. This scheme alleviates the problem of power source exhaustion of each robot and improves the reliability of multi-robot rescue systems.