[1]CAI Zi-xing,REN Xiao-ping,ZOU Lei.A simulated communications system for distributed multirobots[J].CAAI Transactions on Intelligent Systems,2009,4(4):309-313.
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CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
4
Number of periods:
2009 4
Page number:
309-313
Column:
学术论文—智能系统
Public date:
2009-08-25
- Title:
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A simulated communications system for distributed multirobots
- Author(s):
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CAI Zi-xing; REN Xiao-ping; ZOU Lei
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School of Information Science and Engineering,Central South University, Changsha 410075, China
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- Keywords:
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multirobots system ; simulation system; communication network; coverage connectivity; virtual force
- CLC:
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TP393.01
- DOI:
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- Abstract:
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An architecture for simulating a communication system for multirobots was developed and tested. The proposed system primarily reflects changes in the communication modes of robots and the topology of their communication network. A modularized design technology was adopted. Some interfaces were reserved in advance for research in areas such as robot avoidance, task distribution and coverage connectivity, and so on. At present, multirobots coverage is a research hotspot in the field of multiple mobile robots and wireless sensor networks. We developed a special strategy to allocate robots using virtual forces among them; the robots would then cover the monitored area as much as possible. It has been proven that a regular hexagon provides maximum coverage with least waste; this was the basis of our approach. Experiments showed that this distributed algorithm moved robots to extend their coverage by the virtual force among robots while maintaining network connectivity. This proves the effectiveness of the virtual force coverage strategy.