ボロノイ分割を応用した無線中継移動ロボットの配置制御

カテゴリ: 論文誌(論文単位)

グループ名: 【D】産業応用部門

発行日: 2012/03/01

タイトル(英語): Deployment Control of Wireless Multi-Hop-Relay Mobile Robots Based on Voronoi Partition

著者名: 今泉　貴敬（芝浦工業大学），村上　博行（（株）安川電機），内村　裕（芝浦工業大学）

著者名(英語): Takaaki Imaizumi (Shibaura Institute of Technology), Hiroyuki Murakami (YASUKAWA Electric Corporation), Yutaka Uchimura (Shibaura Institute of Technology)

キーワード: ボロノイ分割，レスキューロボット，分散制御，無線ネットワーク，移動ロボット　　Voronoi partition，rescue robot，distributed control，wireless network，mobile robot

要約(英語): This paper describes a new method for the deployment of wireless relay nodes. When using rescue robots in a building or underground city, the wireless radio signal is attenuated significantly, and therefore, multi-hop extension involving wireless communication relays is required. The goal of this research is to deploy wireless relay nodes to maintain connectivity between the base station and the leader robot that explores around the front line. To move the relay robot autonomously, a distributed algorithm is required.The proposed method is suitable when it is applied for wireless relay purposes. In the method, a virtual force drives a node to the centroid of Voronoi neighbors, and it maintains the connectivity of wireless communication. The proposed method is evaluated by conducting numerical simulations and experiments. In the simulation, one or two leader robots are assumed. In the experiment, a mobile robot equipped with omni-wheels is used.

本誌: 電気学会論文誌D（産業応用部門誌） Vol.132 No.3 （2012） 特集：産業計測制御全般

本誌掲載ページ: 381-388 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejias/132/3/132_3_381/_article/-char/ja/