Research On Wireless Communication Of Multiple Mobile Robots

Multi-robot system has more advantages than single robot system in the aspects of distribution, reliability, flexibility and economy. The system, which is composed of a number of robots, can complete the work through coordination, collaboration.However a single robot system has difficult in completing the work and even can not work successfully.So how to achieve motion coordination between multi robots is a very important issue for multi-robot system. In order to obtain the operation of the robots, it is a effective way for mobile robot to communicate with host computer or other robots by wireless communication network according to its own characteristics and the uncertainty of their environment. At the same time, development of effective data communication protocol is the prerequisite to ensure the reliability and stability of the system.In this paper, a mobile robot based on dsPIC30F6014a MCU platform is chosen and multiple mobile robots wireless communication system is built by useing CC1000 wireless micro-power data transmission module. Based on it, a lot of experiments is done to verify the effectiveness. In the experiment, Modbus protocol is used as the communication protocol and data frame format is revised in accordance with characteristics of the system to improve the real-time characteristic of communication. In order to solve the multi-robot communication system conflict, CSMA / CA algorithm is proposed in the paper. Finally,the multiple mobile robot wireless communication system software flow chart is shown and the experimental data of the process verifies the reliability of the system.