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中南大学学报(英文版)

Journal of Central South University

Vol. 25    No. 12    December 2018

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Robot SLAM with Ad hoc wireless network adapted to search and rescue environments
WANG Hong-ling(王洪玲)1, ZHANG Cheng-jin(张承进)1, 2, SONG Yong(宋勇)2, PANG Bao(庞豹)1

1. School of Control Science and Engineering, Shandong University, Ji’nan 250101, China;
2. School of Mechanical, Electrical and Information Engineering, Shandong University at Weihai,Weihai 264209, China

Abstract:An innovative multi-robot simultaneous localization and mapping (SLAM) is proposed based on a mobile Ad hoc local wireless sensor network (Ad-WSN). Multiple followed-robots equipped with the wireless link RS232/485 module act as mobile nodes, with various on-board sensors, Tp-link wireless local area network cards, and Tp-link wireless routers. The master robot with embedded industrial PC and a complete robot control system autonomously performs the SLAM task by exchanging information with multiple followed-robots by using this self-organizing mobile wireless network. The PC on the remote console can monitor multi-robot SLAM on-site and provide direct motion control of the robots. This mobile Ad-WSN complements an environment devoid of usual GPS signals for the robots performing SLAM task in search and rescue environments. In post-disaster areas, the network is usually absent or variable and the site scene is cluttered with obstacles. To adapt to such harsh situations, the proposed self-organizing mobile Ad-WSN enables robots to complete the SLAM process while improving the performances of object of interest identification and exploration area coverage. The information of localization and mapping can communicate freely among multiple robots and remote PC control center via this mobile Ad-WSN. Therefore, the autonomous master robot runs SLAM algorithms while exchanging information with multiple followed-robots and with the remote PC control center via this local WSN environment. Simulations and experiments validate the improved performances of the exploration area coverage, object marked, and loop closure, which are adapted to search and rescue post-disaster cluttered environments.

 

Key words: search and rescue environments; local Ad-WSN; robot simultaneous localization and mapping; distributed particle filter algorithms; coverage area exploration

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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