Construction of Ad-Hoc Network for Distributed Operation of Multi-Mobile Robot
Ryo Odake, Aki FUKAGAWA, Kei Sawai, Noboru Takagi, Hiroyuki Masuta, Tatsuo Motoyoshi · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2021
This paper describes an information gathering system comprising multiple mobile robots and a wireless sensor network (WSN). We have been discussing communication quality between an operator and the multi-robot for tele-operation of mobile robot in the information gathering activity in the closed space. In operation multi-robot, a mobile robot carries wireless relay nodes and deploy them into the environment. After construction the network, multi-robot connect to the network and explore. An operator then controls the multi-robot remotely while monitoring end-to-end communication quality with all mobile robot. In this paper, we propose a method that measuring end-to-end throughput with multi-robot. The validity of the proposal method was inspected by doing an evaluation experiment of multi-robot tele-operation.