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提出了一种基于移动自组网的多机器人远程监控方案.这种监控方案可以使离控制台较远的机器人合作探测并将探测信息传回控制台.控制台通过探测数据,远程监控现场环境,并对机器人进行适当的控制.针对多机器人通信网络拓扑变化频繁和通信链路不稳定的现象,提出了一种链路重构的方法来优化通信网络,并实现了多机器人远程监控系统.多机器人协作探测地图的实验验证了系统的实用性和有效性.
A multi-robot remote monitoring scheme based on mobile ad hoc network is proposed.This monitoring scheme can make the robot farther away from the console cooperate to detect and transmit the probe information back to the console.The console can remotely monitor the scene by detecting the data And control the robot properly.Aiming at the phenomenon that the topology of multi-robot communication network changes frequently and the communication link is not stable, a method of link reconstruction is proposed to optimize the communication network and realize the multi-robot remote monitoring system. The experiment of multi-robot collaborative exploration map verifies the practicability and effectiveness of the system.