Optimization Research For Relay Deployment In Wireless Robot Systems

In recent years,with the development of robotics and wireless communication technology,multi-robots coordination technology based on wireless communication has been greatly developed in the field of environment perception and scening and has become a research hotspot nowadays.This is very inconvenient for humans to work in nuclear power plants,high voltage substation,somewhere with fire hazards or toxic gases,we can use the robots to complete the task of environmental monitoring and data return.Multi-robot systems generally work as team.Each robot plays different role in the team and contects with each other by wireless network.Maintaining the connectivity quality stably for information exchange among robots and base station is vital in the wireless robot system.Furthermore,energy resource of a mobile robot is very limited as well.Therefore,it is an important issue to optimize the path planning of the robots,the deployment of relay robots and the transmission powers as a whole.In this thesis,we consider a scenario in the hazardous area for wireless robot system,focus on the optimization research of deployment of the relay robot and energy consumption that a team of sensing robots monitor an area and transmit the monitored information to a remote base station through a mobile relay.The main work of this thesis is as follows:We firstly introduce the basic model of wireless relay communication channel,studied and verified the Rayleigh fading channel with packet loss rate as the communication index.Then,we builded the communication energy consumption model,motion energy consumption model and the total energy system model in the scene with one sensing robot and one relay robot.This thesis focuses on optimization for relay deployment,we reduced the original problem into a motion planning problem by derive the asymptotically optimal transmit powers.We propose an optimization plan for the deployment of the relay robot.Finally,the effectiveness of the optimization is verified by analysis,showing that the optimization of the relay deployment can plan the route of the relay robot according to the route of sensing robot,data sampling rate,sensing times and the maximum tansmit power.The results show that the optimization of the relay deployment is efficient and can maintain the wireless connectivity quality stably,reduce the energy consumption of the system.