抄録
This paper describes a new method for the deployment of wireless relay nodes. When using rescue robots in a building and a disaster, the 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 robots autonomously, a distributed algorithm is required. The proposed method is suitable when it is applied for wireless relay purposes. In the method, a elasticity used as a virtual force drives a node, and it will maintain the connection of wireless communication. The proposed method is evaluated by simulations and experiments. In the simulation analysis, the following motion to the leader robots is testified. The experiment using, mobile robots with omni-wheels verified the validity of the proposed method.
