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

• Articles • Previous Articles     Next Articles

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

PDF (PC)

790

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

[1] LIU Qiong, WU Xiao-Jun. An improved immune clonal selection algorithm [J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(6): 8-12.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] WANG Su-yu,<\sup>,AI Xing<\sup>,ZHAO Jun<\sup>,LI Zuo-li<\sup>,LIU Zeng-wen<\sup> . Milling force prediction model for highspeed end milling 3Cr2Mo steel[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 1 -5 .
[2] LI Kan . Empolder and implement of the embedded weld control system[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(4): 37 -41 .
[3] SHI Lai-shun,WAN Zhong-yi . Synthesis and performance evaluation of a novel betaine-type asphalt emulsifier[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2008, 38(4): 112 -115 .
[4] KONG Xiang-zhen,LIU Yan-jun,WANG Yong,ZHAO Xiu-hua . Compensation and simulation for the deadband of the pneumatic proportional valve[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 99 -102 .
[5] LAI Xiang . The global domain of attraction for a kind of MKdV equations[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(1): 87 -92 .
[6] YU Jia yuan1, TIAN Jin ting1, ZHU Qiang zhong2. Computational intelligence and its application in psychology[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2009, 39(1): 1 -5 .
[7] CHEN Rui, LI Hongwei, TIAN Jing. The relationship between the number of magnetic poles and the bearing capacity of radial magnetic bearing[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2018, 48(2): 81 -85 .
[8] WANG Bo,WANG Ning-sheng . Automatic generation and combinatory optimization of disassembly sequence for mechanical-electric assembly[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 52 -57 .
[9] LI Ke,LIU Chang-chun,LI Tong-lei . Medical registration approach using improved maximization of mutual information[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 107 -110 .
[10] JI Tao,GAO Xu/sup>,SUN Tong-jing,XUE Yong-duan/sup>,XU Bing-yin/sup> . Characteristic analysis of fault generated traveling waves in 10 Kv automatic blocking and continuous power transmission lines[J]. JOURNAL OF SHANDONG UNIVERSITY (ENGINEERING SCIENCE), 2006, 36(2): 111 -116 .
Copyright 2018 © Editorial office of Journal of Shandong University (Engineering Science)
Supported by Beijing Magtech Co.Ltd