Multi-robot network system for rescue operation

本研究的主要目的是针对受害者侦测系统的设计方案，探讨系统的运作模式、系统的可靠性、以及网路传输的效率。研究结果如下：针对（1）和（2），提出了搜索和中继机器人分类方法SRRC（Search and Relay Robot Classification），并通过计算机仿真验证了其性能。在SRRC中，受害者检测系统中的每个机器人根据在网络中的位置有针对性地行动，并确定到达灾区内目标点的链式网络。由于链式网络的自主配置和自我转换，使得对未知环境的有效探索成为可能。采用SRRC方案实现了对灾区的真实的实时探测，这里的真实的实时探测是与SRRC方案相关的方案。这意味着多机器人救援系统的条件。这个条件首先要求，通信路径必须始终存在于每个机器人和基站的操作员之间，其次，路径必须通过自组织网络配置。通信路径使操作员能够检查机器人检测到的受害者，因此增加了系统的可靠性。与系统的可靠性有关，还研究了向机器人提供无线电力。网络传输方法（3）必须沿着进行链式网络改造，目前正在研究中。

The original targets of this research are, investigation of (1) the system operation scheme, (2) the reliability of the system, and (3) the effeciency of network transmission, concerning the our proposal: victim detection system. The results are the followings.In relation with (1) and (2), SRRC (Search and Relay Robot Classification) method is proposed and the performance is confirmed by computer simulation. In SRRC, each robot in the victim detection system behaves pertinently depending on the position in the network, and confirms the chain network that reaches the target point within the disaster area. Because the chain network autonomously configure and transform itself, the efficient exploration of unknown environment becomes possible. The real time exploration of disaster areas is realized with the SRRC scheme.Here, the real time exploration is the proposal in relation with the SRRC. That means the condition for the multi-robot rescue system. This condition imposes first, the communication path must always exist between each robot and the operators at the base station, and second, the path must configured by ad hoc networking. The communication path makes it possible that the operators examine the victim that a robot detects, and therefore the reliability of the system increases.In relation with the reliability of the system, the wireless power supplying to robots is also investigated. The network transmission method (3) must be investigated along with the chain network transformation and is studying now.