DocumentCode :
2691240
Title :
An adaptive mobile robots tethering algorithm in constrained environments
Author :
Chen, Xi ; Tan, Jindong
Author_Institution :
Dept. of Electr. Comput. Eng., Michigan Technol. Univ., Houghton, MI, USA
fYear :
2009
fDate :
10-15 Oct. 2009
Firstpage :
1377
Lastpage :
1382
Abstract :
This paper presents an adaptive and decentralized robotic cooperation algorithm for controlling the mobile sensors to form a chained network and maintaining the communication links. A single-layer and double-layer chain tethering algorithms are developed for exploring the open and constrained environments by mobile robots. A comprehensive metric for finding the optimal communication range is introduced. With the measurements, mobile robots could be organized into an optimal chained form for tethering. The tethering algorithm could detect the failed nodes and reconfigure the system. It offers an adaptive solution to broken communication links.
Keywords :
adaptive control; decentralised control; mobile robots; wireless sensor networks; adaptive mobile robots tethering algorithm; communication links; comprehensive metric; constrained environments; decentralized robotic cooperation algorithm; double-layer chain tethering algorithm; mobile sensors; optimal communication range; single-layer chain tethering algorithm; Adaptive control; Communication system control; Control systems; Intelligent robots; Mobile communication; Mobile robots; Programmable control; Robot sensing systems; USA Councils; Wireless sensor networks;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-3803-7
Electronic_ISBN :
978-1-4244-3804-4
Type :
conf
DOI :
10.1109/IROS.2009.5354800
Filename :
5354800
Link To Document :
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