Expanding the Coverage Area of a Formation of Robots Through a Mesh Network and a Real Time Database Middleware
Expanding the Coverage Area of a Formation of Robots Through a Mesh Network and a Real Time Database Middleware
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通过网状网络和实时数据库中间件扩大机器人编队的覆盖范围
DOI：
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Glaucio B. Rocha
中科院分区：
文献类型：
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作者：
Leandro J. Caetano;T. Nascimento;M. S. M. Oliveira;Glaucio B. Rocha
机器人之间的通信在机器人研究领域中至关重要且引起人们极大的兴趣。正是通过它，机器人可以发现并传递有关其途中障碍物的信息，向其他机器人传递有关其他机器人无法检测到的目标的信息，共同确定哪条是最好的路线，等等，直到实现目标。在自组织网络中存在机器人通信的情况下，主要困难是使机器人彼此保持距离。例如，其中一个机器人除了将整个机器人编队与中央计算机保持距离之外，还可以离开其初始编队迁移到另一个区域，完成特定任务并返回起点。让机器人远离其他方式施加的限制将导致信号丢失，从而影响它们之间的通信。因此，挑战在于即使这些相同的元素分开，也要保持它们之间的通信。本文的目的是演示通过将在自组织网络通信下使用实时数据库 (RTDB) 的机器人编队包含在网状网络中来扩展其覆盖范围的可行性。根据所进行的实验，我们证明，将机器人纳入此类网络并使用 RTDB 增加了上述功能，从而允许从称为基站的中心点控制机器人，从而实现其组件之间的距离，而不会丢失它们之间的通信。
The communication between robots is essential and of great interest in the robotics research field. It is from it that robots can discover and pass on information about obstacles in their way, pass on to the other robots information about a target that other robot can not detect, determine together which is the best route to follow, among others, until the goals are achieved. The major difficulty in the context where robot communication exists in an ad hoc network is distancing the robots from each other. So that one of them for example, may migrate to another area leaving their initial formation, completing a specific task and return to the starting point, in addition to distancing the whole formation of robots from a central computer. By distancing a robot from the limits imposed by other means will entail a loss of signal compromising communication between them. The challenge, therefore, is to maintain communication between these same elements even though they are apart. The purpose of this article is to demonstrate the feasibility of expanding the coverage area of a formation of robots that use a Real Time Database (RTDB) under an ad hoc network communication, by including them in a Mesh network. According to the performed experiments, we proved that the inclusion of robots in this type of network, and using the RTDB, has added the ability aforementioned thus allowing robot control from a central point, called the Basestation, and therefore enabling the distancing between its components without loss of communication between them.