An adaptive mobile robots tethering algorithm in constrained environments

Author

Chen, Xi ; Tan, Jindong

Author_Institution

Dept. of Electr. Comput. Eng., Michigan Technol. Univ., Houghton, MI, USA

fYear

2009

fDate

10-15 Oct. 2009

Firstpage

1377

Lastpage

1382

Abstract

This paper presents an adaptive and decentralized robotic cooperation algorithm for controlling the mobile sensors to form a chained network and maintaining the communication links. A single-layer and double-layer chain tethering algorithms are developed for exploring the open and constrained environments by mobile robots. A comprehensive metric for finding the optimal communication range is introduced. With the measurements, mobile robots could be organized into an optimal chained form for tethering. The tethering algorithm could detect the failed nodes and reconfigure the system. It offers an adaptive solution to broken communication links.

Keywords

adaptive control; decentralised control; mobile robots; wireless sensor networks; adaptive mobile robots tethering algorithm; communication links; comprehensive metric; constrained environments; decentralized robotic cooperation algorithm; double-layer chain tethering algorithm; mobile sensors; optimal communication range; single-layer chain tethering algorithm; Adaptive control; Communication system control; Control systems; Intelligent robots; Mobile communication; Mobile robots; Programmable control; Robot sensing systems; USA Councils; Wireless sensor networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on

Conference_Location

St. Louis, MO

Print_ISBN

978-1-4244-3803-7

Electronic_ISBN

978-1-4244-3804-4

Type

conf

DOI

10.1109/IROS.2009.5354800

Filename

5354800