標題: Development of A Behavior-Based Cooperative Search Strategy for Distributed Autonomous Mobile Robots Using Zigbee Wireless Sensor Network
作者: Shih, Tzu-Chiang
Yeh, Syh-Shiuh
Hsu, Pau-Lo
電機工程學系
Department of Electrical and Computer Engineering
關鍵字: Cooperative search strategy;distributed mobile robots;ZigBee;behavior-based control;wireless sensor network
公開日期: 1-三月-2014
摘要: To achieve efficient and objective search tasks in an unknown environment, a cooperative search strategy for distributed autonomous mobile robots is developed using a behavior-based control framework with individual and group behaviors. The sensing information of each mobile robot activates the individual behaviors to facilitate autonomous search tasks to avoid obstacles. An 802.15.4 ZigBee wireless sensor network then activates the group behaviors that enable cooperative search among the mobile robots. An unknown environment is dynamically divided into several sub-areas according to the locations and sensing data of the autonomous mobile robots. The group behaviors then enable the distributed autonomous mobile robots to scatter and move in the search environment. The developed cooperative search strategy successfully reduces the search time within the test environments by 22.67% (simulation results) and 31.15% (experimental results).
URI: http://dx.doi.org/10.1002/asjc.652
http://hdl.handle.net/11536/24504
ISSN: 1561-8625
DOI: 10.1002/asjc.652
期刊: ASIAN JOURNAL OF CONTROL
Volume: 16
Issue: 2
起始頁: 421
結束頁: 430
顯示於類別:期刊論文


文件中的檔案:

  1. 000332412100010.pdf