Multi-robot system for search and exploration in the underground mine disasters based on WSN

摘要

For the environmental exploration,survivors searching and long distance communication in the underground mine disasters,a home-secondary multi-robot system was built based on the wireless sensor network(WSN).Two kinds of robots were proposed and analyzed for the obstacle surmounting capability.A wireless sensor network was built with a chaining redundant structure using the robot as sensor node.And a sensor interface module based on the Field Programmable Gate Array(FPGA) was used.The preliminary experiments show that the system with robots as nodes of WSN can spread in the complicated underground circumstance and allocate the robots as sensor nodes to set up the WSN to implement the communication and control of the multi-robot system.