Guo-tai JIAO(焦国太)1,3, Feng WANG(王峰)1,2, Dong-ze QIN(秦栋泽)3
1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China;2. Robotics Research Center,North University of China, Taiyuan 030051, China;3. College of Mechatronics Engineering, North University of China, Taiyuan 030051, China
Abstract-A wireless communication method with dynamic adding n odes for Underground Search and Rescue robot is proposed: fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway wh ere radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolv ed by the communication direction priority and response signal mechanism, to enh ance the reliability of communication. Finally, a sample is designed and an expe riment is conducted to verify the efficiency of the method.
Key words-multi-hop wireless communication; undergroun d search and rescue; robot
Manuscript Number: 1674-8042(2010)03-0212-05
dio: 10.3969/j.issn.1674-8042.2010.03.03
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