移動ロボットの遠隔操作を考慮した移動型中継端末によるスループット維持・管理手法の検討

抄録

This article describes about method to maintain throughput value of wireless connection using mobile sensor nodes (MSNs). We have been discussing about a disaster information gathering system using mobile robot and wireless sensor networks, which is called Robot Wireless Sensor Networks. To smoothly operate our system in disaster area, it is necessary to consider prevention of an operability deterioration of robot teleoperation caused by degradation of communication connectivity. Therefore we studied a dynamic adjustment method for arrangement positions of MSNs to maintain communication connectivity by using MSN's mobility and throughput measurement, and prototyped sensor nodes with mobile function. Communication quality was evaluated by using MSNs in an actual outdoor environment to confirm an availability of the proposed method.