マルチロボットの分散運用における通信接続性の確保を考慮した多段中継ネットワークの構築

抄録

This paper describes an information gathering system comprising multiple mobile robots and a wireless sensor network (WSN). We have been discussing communication quality between an operator and the multi-robot for tele-operation of mobile robot in the information gathering activity in the closed space. In operation multi-robot, a mobile robot carries wireless relay nodes and deploy them into the environment. After construction the network, multi-robot connect to the network and explore. An operator then controls the multi-robot remotely while monitoring end-to-end communication quality with all mobile robot. In this paper, we propose a method that measuring end-to-end throughput with multi-robot. The validity of the proposal method was inspected by doing an evaluation experiment of multi-robot tele-operation.