1A2-D09 Wireless sensor networks construction strategies considering for mobile robot teleoperation(Network Robotics)

摘要

The authors have been developing an information-gathering system using mobile robots and wireless sensor networks (WSNs) in underground spaces in post-disaster environments. In our system, teleoperated mobile robots carry wireless sensor nodes (SNs) and deploy them into the environment based on measuring values of both a received signal strength indication (RSSI) and a throughput. During teleoperating the mobile robot, it is necessary to consider communication path to maintain the operability. Therefore, we proposed method that communication path is optimized by the position between the mobile robot and SNs. In this paper, we evaluated the value of end-to-end throughput after changing communication path by actual experiment. The experimental result showed that the operability of the mobile robot is improved by changing the communication path.