JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE) ›› 2010, Vol. 40 ›› Issue (2): 34-42.

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An  adaptive mobile robot  tethering  algorithm  in  constrained  environments

TAN Jin-dong, CHEN Xi   

  1. Department of Electrical and Computer Engineering,Michigan Technological University,Houghton, MI 49931, USA
  • Received:2009-07-21 Online:2010-04-16 Published:2009-07-21
  • About author:TAN Jin-dong(1970-),male,associate professor,doctor,his research interests include multirobot systems, sensor network,biosensor and signal process, humanmachine interaction,et al. E-mail: jitan@mtu.edu CHEN Xi(1985-),male,doctor PS,his research interests include mobile wireless sensor networks, multirobot systems,et al.E-mail: xchen3@mtu.edu
  • Supported by:

    National Science Foundation under Grant ECS ＃0528967 and CSR ＃0720781 of America

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Abstract:

This paper presents an adaptive and decentralized robotic cooperation algorithm for controlling  mobile sensors to form a chained network and maintaining  communication links.  Single-layer and double-layer chain tethering algorithms are developed for exploring  open and constrained environments by mobile robots. A comprehensive metric for finding the optimal communication range is introduced. With the measurements, mobile robots could be organized into an optimal chained form for tethering. The tethering algorithm could detect the failed nodes and reconfigure the system. It offers an adaptive solution to broken communication links.
 

Key words: mobile sensor network, double-layer chain tethering, adaptive algorithm

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