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Use of wireless sensors to improve robot lifetime for multi-threat containment.

机译：使用无线传感器来延长多威胁遏制的机器人寿命。

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摘要

Autonomous robots can be used in a decentralized environment to contain threats. While working in this capacity, these motor propelled robots are constantly moving, therefore drawing a large amount of current from the battery. If these algorithms are to be implemented in hardware, it is important to ensure that the robots move only when necessary in an effort to optimize battery life.;This work introduces static wireless sensors to assist robots in detecting threats. By having a sufficient number of wireless sensors available to detect threats, it is hypothesized that a similar containment performance can be achieved with less robot movements. When not actively containing threats, the robots may enter a sleep mode thus optimizing energy conservation.;The notion of multi-mode operations has been utilized in other wireless sensor network applications. In the field of cooperative robotics, however, little has been investigated for system performance when both mobile robots and static sensors coexist. This work leverages previously developed multi-threat containment algorithms and the notion of multi-mode operations from wireless sensor network research community and examines the scenarios where wireless sensors can benefit the overall system performance.;Battery models and additional sensors and obstacles are introduced to a previously developed simulator, MAHESHDAS. Various battery models and parameters are considered to mimic a realistic environment. The sensor nodes occupy a small amount of physical space and therefore assist the robots while also limiting their movements. Robots are assumed to be ground vehicles, and will need to avoid collisions of each other as well as sensor nodes and other obstacles. Repulsion forces are used to model the collision avoidance between the various obstacles. The percentage of threats contained, the time to contain threats, and the average robot lifetime are compared in different operational scenarios. The simulation results demonstrate that the introduction of wireless sensors improve the average robot lifetime when the threats do not occur too often and when the sensor repulsion force is relatively small. Uniform sensor placement is also shown to perform better than random deployment.
机译：自主机器人可以在分散的环境中使用，以遏制威胁。当以这种方式工作时，这些由马达驱动的机器人会不断移动，因此会从电池中汲取大量电流。如果要在硬件中实施这些算法，则必须确保仅在必要时才移动机器人，以优化电池寿命，这一点很重要。此项工作引入了静态无线传感器，以帮助机器人检测威胁。通过拥有足够数量的可用于检测威胁的无线传感器，可以假设使用更少的机器人移动就可以实现类似的防护性能。当没有主动控制威胁时，机器人可以进入睡眠模式，从而优化节能效果。多模式操作的概念已在其他无线传感器网络应用中得到利用。但是，在协作机器人领域，当移动机器人和静态传感器共存时，对于系统性能的研究很少。这项工作利用了以前开发的多威胁遏制算法以及无线传感器网络研究社区的多模式操作概念，并研究了无线传感器可以使整个系统性能受益的场景。电池模型以及其他传感器和障碍物被引入到无线传感器网络中。以前开发的模拟器MAHESHDAS。各种电池模型和参数都被认为可以模拟现实环境。传感器节点占用少量物理空间，因此在限制机器人运动的同时为机器人提供了帮助。假定机器人是地面车辆，并且需要避免彼此以及传感器节点和其他障碍物的碰撞。排斥力用于模拟各种障碍物之间的碰撞避免。比较了不同操作方案中包含的威胁百分比，包含威胁的时间以及平均机械手寿命。仿真结果表明，当威胁不经常发生且传感器排斥力相对较小时，无线传感器的引入可延长机器人的平均寿命。还显示出均匀的传感器放置比随机部署的性能更好。

著录项

  • 作者

    Ellis, Michael D.;

  • 作者单位

    Rochester Institute of Technology.;

  • 授予单位 Rochester Institute of Technology.;
  • 学科 Engineering Electronics and Electrical.;Engineering Robotics.
  • 学位 M.S.
  • 年度 2009
  • 页码 66 p.
  • 总页数 66
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类 无线电电子学、电信技术;
  • 关键词

  • 入库时间 2022-08-17 11:38:30

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