Communication Mechanism of a Planetary Exploration Multi-Robot System
ZHANG Zheng1,2, MA Shu-gen1,2,3, LI Bin2, ZHANG Li-ping1,2, WANG Ming-hui2, CAO Bing-gang1
1. School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049, China; 2. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 3. COE Research Institute, Ritsumeikan University, Kusatsu 525-8577, Japan
张政, 马书根, 李斌, 张力平, 王明辉, 曹秉刚. 一种星球探测系统多机器人通信机制研究[J]. 机器人, 2006, 28(3): 309-315..
ZHANG Zheng, MA Shu-gen, LI Bin, ZHANG Li-ping, WANG Ming-hui, CAO Bing-gang. Communication Mechanism of a Planetary Exploration Multi-Robot System. ROBOT, 2006, 28(3): 309-315..
Abstract：The communication characteristics of a reconfigurable planetary exploration multi-robot system are analyzed.According to the function requirement for the multi-robot system,enlightened by the principle of TDMA(time division multiple address) and rotational mechanism,a novel multi-robot wireless communication mechanism is proposed.The mechanism and the communication protocol are also described in detail.The feasibility and practicability of the mechanism are simultaneously verified by a simulation and a communication experiment.