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基于由网关、静态传感器节点和多移动机器人系统组成的无线传感和执行网络,设计了一种用于室内环境的应急服务系统.当网络中多机器人系统接收到事故报警信息时,多机器人将导航至事故地点并提供相应的应急服务.根据网络中多移动机器人系统的特点,设计了一种分布式一致性编队算法,使得多机器人系统能够保持队形到达目标位置.最后设计并实现了这种应急服务系统,并进行了仿真和实验测试.结果表明当发生事故时,多机器人系统可以成功提供应急照明和故障检测节点的替换服务.算法的有效性和系统的可行性得到了验证.
Based on the wireless sensor and enforcement network composed of gateway, static sensor node and multi-mobile robot system, an emergency service system for indoor environment is designed.When the multi-robot system in the network receives the accident alarm information, the multi-robot Navigation to the accident site and provide the corresponding emergency services.According to the characteristics of multi-mobile robot system in the network, a distributed consistency formation algorithm is designed to make the multi-robot system can keep the formations to reach the target location.Finally this is designed and implemented The simulation results show that the multi-robot system can successfully provide the replacement service of emergency lighting and fault detection nodes in the event of an accident.The validity of the algorithm and the feasibility of the system have been verified.