Simultaneous Environment Modeling and Deployment of Network by Dropping Wireless Modules Based on Radio Field Intensity Measurement Using an Micro Aerial Robot

摘要

In this paper, we propose a new system for field robot under the environment without network infrastructure, called Simultaneous Environment-Modeling and Networking (SEMAN). With this system, field robot deploys the mobile wireless module to build up a wireless network for communication with base station, while modeling the environment such as mapping for navigation simultaneously. In our research, we apply this new system to aerial robot(quad-rotor), which can drop wireless modules in order. In this paper, firstly, we propose a deployment method of on-demand network, by dropping wireless modules based on the measurement of radio field intensity. We also present the topology of wireless network generated from wireless modules as well as the route search method for data transmission from robot to base station. Secondly, we show the control mechanism of quad-rotor and robot platform using the method of Simultaneous Localization and Mapping(SLAM) for navigation. Finally, we show the effectiveness of this SEMAN system quad-rotor in the flight experiment in indoor environment.