Abstract
With the development of engineering technology, the distributed design-based Branch-Trimming Robot (BTR) has been used to ensure the power supply security of transmission lines. However, it remains difficult to combine distributed BTRs with a wireless sensor network to build an efficient multi-robot system. To achieve this combination, a dynamic network topology control method was proposed, combining the motion characteristics of robots with the structure of a distributed wireless sensor network. In addition, a topology-updating mechanism based on node signal strength was adopted as well. To achieve efficient data transmission for distributed multi-robot systems, the present study focused on the design of a distributed network model and a dynamic network topology control strategy. Several simulation and test scenarios were implemented, and the changes of network performance under different parameters were studied. Furthermore, the real scene-based dynamic topology control method considers the relationship between network performance and antenna layout.
Highlights
A normal power supply is one of people’s basic needs
The results are achieved by three experiments, namely the Received Signal Strength (RSS) mathematical model experiment, the experiment for testing the Dynamic Network Topology Control Strategy (DNTCS) applied to the Distributed Branch-Trimming Robot Network (DBTRN), and the experiment for testing the DNTCS in other networks
To verify the RSS mathematical model presented in Section 3.2.3, the Branch-Trimming Robot (BTR) and the Base Station (BS) with directional antennas were used in this experiment
Summary
Overhead transmission lines are often affected by trees, especially when their branches enter the safety area of energized transmission lines, the risk of blackouts and bush firing will increase [1]. Multi-robot systems controlled in distributed intelligent network systems have been used for surveillance, exploration, and transmission line monitoring [5,6]. To address the problems related to power supply security caused by the rapid growth of vegetation around transmission lines, a multi-robot system called the Branch-Trimming Robot (BTR) was developed. To adapt to the complex and changeable vegetation coverage around transmission lines, the distributed control system was adopted in the BTR, thereby expanding the mobile space and widening the operational scope of the robot
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