The Oriented Idgps Robot Cluster Communication Link Failure Detection And Recovery

Mobile robot which is widely applied both in military and civilian areas, has become one ofthe most popular research subjects in many institutions and organizations for a long time all over the world. Accurated positioning system for mobile robots plays an important part in Mobile robots. In this paper, author particularly emphasizes on the performance, fault detection and fault recovery of Mobile robot Network which is used for IDGPS Data Link.Firstly ,the paper gives common Communication for DGPS system . Presents the structure of IDGPS Mobile Robot Monitoring System ,using robot network as Data Link for IDGPS. In the third chapter ,we use Ad Hoc as the formation of mobile robot network. Simulation experiments in NS-2 show the preformance change with external conditions change for Communication failures in datalink, chapter 4 did some research on fault detection on data link. Directional packet delivery can realize Distributed fault detection, reduce packet number, balance communication load. The fifth chaper gives fault recovery method after communication failure. According to The importance of the robot, Divided the robots into three categories. The method of optimize estimate is used to find the most appropriate robot for fault recovery.The end of this paper gives the summary of this paper and the future iseas of mobile robot IDGPS.