抄録
This paper deals with a unified system of fully distributed meshed sensor network and mobile robot cooperation which serves as a sink node. A novel communication timing control employing coupled-oscillator dynamics, named Phase Diffusion Time Division method (PDTD) has been proposed so far, aiming at realization of ad-hoc collision free wireless communication network. In this paper, We extend the basic PDTD so that it can exhibit flexible topological reconfiguration according to the moving sink node(robot). Unlike conventional sensor network, no static sink node is supposed inside the network, however a mobile robot will function as a sink node and access to the mesh network from an arbitrary position. Large scale experiment was conducted and its results show that satisfactory collaboration between the mesh sensor network and the mobile robot is achieved, a≪d the proposed system outperformed CSMA-based sensor network system.
