Experiments with a zigbee wireless communication system for self-reconfiguring modular robots
Experiments with a zigbee wireless communication system for self-reconfiguring modular robots
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用于自重构模块化机器人的 zigbee 无线通信系统实验
DOI：
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发表时间：
2009
期刊：
影响因子：
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通讯作者：
Ritesh Lal
中科院分区：
文献类型：
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作者：
R. Fitch;Ritesh Lal
设计可靠的低成本通信系统来支持分散算法的问题是自重构模块化机器人的主要研究挑战。在本文中，我们评估的通信系统的基础上ZigBee，无线自组织网状网络标准。我们提出了一个15节点的系统原型和结果，从300次试验的实验，测量系统性能的基准任务。我们选择的基准是连通性问题--如何在重新配置期间发生的断开和重新连接期间保持模块图中的连通性。我们还提供了我们的连通性算法的伪代码的完整实现细节。我们的研究结果表明，尽管其固有的可扩展性的限制，ZigBee无线系统是可行的，作为一个简单的，低成本的通信系统的自我重新配置模块化机器人。
The problem of designing reliable low-cost communications systems to support decentralized algorithms is a major research challenge in self-reconfiguring modular robotics. In this paper we evaluate a communication system based on ZigBee, a wireless ad-hoc mesh networking standard. We present a 15-node system prototype and results from an experiment of 300 trials that measures system performance on a benchmark task. The benchmark we chose is the connectivity problem - how to maintain connectivity in the module graph during the disconnections and reconnections that occur during reconfiguration. We also provide full implementation details in pseudocode for our connectivity algorithm. Our results show that, despite its inherent scalability limitations, a ZigBee wireless system is feasible as a simple, low-cost communication system for self-reconfiguring modular robots.