Simultaneous Environment Modeling and Deployment of Network by Dropping Wireless Modules Based on Radio Field Intensity Measurement Using an Micro Aerial Robot

• Zhao Moju

  The University of Tokyo, Graduate School of Information Science and Technology

• Kawasaki Koji

  The University of Tokyo, Graduate School of Information Science and Technology

• Kakiuchi Yohei

  The University of Tokyo, Graduate School of Information Science and Technology

• Okada Kei

  The University of Tokyo, Graduate School of Information Science and Technology

• Inaba Masayuki

  The University of Tokyo, Graduate School of Information Science and Technology

Bibliographic Information

Other Title

• 電波強弱監視に基づく複数無線モジュールの順次投下と環境地図作成を行う小型飛行ロボットの実現
• デンパ キョウジャク カンシ ニ モトズク フクスウ ムセン モジュール ノ ジュンジ トウカ ト カンキョウ チズ サクセイ オ オコナウ コガタ ヒコウ ロボット ノ ジツゲン

Abstract

In this paper, we propose a new system for field robot under the environment without network infrastructure, called Simultaneous Environment-Modeling and Networking (SEMAN). With this system, field robot deploys the mobile wireless module to build up a wireless network for communication with base station, while modeling the environment such as mapping for navigation simultaneously. In our research, we apply this new system to aerial robot(quad-rotor), which can drop wireless modules in order. In this paper, firstly, we propose a deployment method of on-demand network, by dropping wireless modules based on the measurement of radio field intensity. We also present the topology of wireless network generated from wireless modules as well as the route search method for data transmission from robot to base station. Secondly, we show the control mechanism of quad-rotor and robot platform using the method of Simultaneous Localization and Mapping(SLAM) for navigation. Finally, we show the effectiveness of this SEMAN system quad-rotor in the flight experiment in indoor environment.

Journal

• Journal of the Robotics Society of Japan

  Journal of the Robotics Society of Japan 32 (7), 643-650, 2014

  The Robotics Society of Japan

Keywords

• Micro Aerial Robot
• Simultaneously Mapping and Localization
• Deployment of Network

Details

• CRID: 1390001204730009600
• NII Article ID: 130004697455
• NII Article ID: 40020202642
• NII Book ID: AN00141189
• DOI: 10.7210/jrsj.32.643
• ISSN: 18847145
• ISSN: 02891824
• NDL BIB ID: 025794343
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I025794343
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
  • KAKEN
• Abstract License Flag: Disallowed