A Space-Division Wireless Communication System for Ad hoc Networking and Cooperative Localization of Multiple Mobile Robots
| Authors: | Yasuda Gen'ichi, Nagasaki Institute of Applied Science, Japan
Takai Hiroyuki, Hiroshima City University, Japan
Tachibana Keihachiro, Hiroshima City University, Japan |
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| Topic: | 3.3 Computers and Telematics |
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| Session: | Telematics Applications and Networking |
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| Keywords: | Space-division wireless communication, mobile adhoc networking, arbiter selection, cooperative localization, multiple autonomous mobile robots |
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Abstract
This paper presents a space-division wireless communication system for multiple mobile robots. The proposed communication system has the following features: 1) it has a set of infrared transceivers arranged on the circumference of the robot body to communicate in all directions; 2) it can maintain communication links by exchanging transceivers when either of the robots runs and/or rotates. An arbiter is introduced to reduce communication interference when two or more robots are in the same communication area. Adhoc communication networks are constructed based on the selection of arbiters. As an example of distributed sensing and cooperation using the system, cooperative localization of communicating mobile robots is also described. Some performance measurements using an experimental system have been carried out to show the viability of the propose approach.
