Quality of connectivity guarantee of ZigBee based wireless mobile sensor network

In recent years, instead of wired communication, wireless communication technology has been utilized in many applications. Particularly, sensor networks are used in cases such as environmental monitoring, security service, space exploration etc. In this paper, motion planning and keeping connectivity of multiple robots distributed in a ZigBee based sensor networks are discussed in order to sense their unknown surroundings. The multiple robots distributed in a ZigBee based sensor network exchange information each other over the wireless sensor network and accomplish cooperative tasks in a closed area. In a rescue task, it changes dynamically according to the continuously shifting situation. In this case, the robots need to keep connectivity between other robots in order to accomplish the tasks in the real world. The proposed method enables mobile robot to be controlled under non-holonomic constraint and it is controlled based on the indicator of communication connectivity, which is related to the quality of communication as a real-time and real world application.