一种星球探测系统多机器人通信机制研究

Communication Mechanism of a Planetary Exploration Multi-Robot System

摘要: 分析了一种可重构星球探测系统中多机器人通信的特点．根据多机器人系统的功能要求，在TDMA（时分多址）分时共享信道原理和击鼓传花机制的启发下，提出了一种新颖的多机器人无线通信机制．详细介绍了该通信机制和通信协议．仿真和通信实验同时验证了该机制的可行性和实用性．

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.