Abstract
Network connectivity preservation is one of the substantial factors in achieving efficient mobile robot teams' maneuverability. We present a connectivity maintenance method for a robot team's communication. The proposed approach augments the Radio Frequency Mapping Recognition (RFMR) method and the signal strength gradient decent approach for an overall goal to create a Proactive Motion Control Algorithm (PMCA). The PMCA algorithm controls and helps strengthen mobile communicating robots' connectivity in the existent Radio Frequency (RF) obstacles. The RFMR method takes advantage of Hidden Markov Models (HMMs) results, which assist in learning electromagnetic environments depending on measurements of RF signal strength. The classification results of HMM lead the robots to resolve whether to continue the current trajectory for avoiding the obstacle shadow or move back to desirable robust Signal Strength (SS) positions. In both cases, the robot will run the gradient approach to determine the signal change trend and drive the robot toward the strong SS direction for maintaining link connectivity. The PMCA, depending on the results of RFMR and gradient approaches, promises to preserve robots' motion control and link connectivity maintenance.
Highlights
The majority of Communication networks, especially wireless networks, are deployed in territories with different interference sources (Different obstacles), affecting the communication signals and creating no Line Of Sight (LOS) among communication devices, so they can not identify each other
The features components extracted are written to vectors, and we used a subset of the vectors of features for the training purpose of the created model and the remaining vectors used for model testing
At time t = 0, two robots are placed at x0(1) = 20; y0(1) = 5 and robot 2 starts at x0(2) = 40; y0(2) = 5 in the field
Summary
The majority of Communication networks, especially wireless networks, are deployed in territories with different interference sources (Different obstacles), affecting the communication signals and creating no Line Of Sight (LOS) among communication devices, so they can not identify each other. The Frezonet zone where the signal propagates should be free of interferences sources such as conducting and conducting obstacles of different types to an actual LOS [1,2]. One problem of the RF communications in disasters such as crumpled buildings is many signal interference sources that cause no LOS and disrupt the communication signal. One of the critical problems is maintaining a reliable link between the robot team members to transmit the message to the BS. A single robot could not send messages directly from the most distant network topology to the BS. What's more, each robot in the team has different duties It searches for survivors, maintains communication through network topology, and transmits data to the BS
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