Design And Experimental Research Of 3D Environment Self-Deployment System Of Bionic Jumping Robot Sensor Network Node

In military reconnaissance,disaster rescue,environmental monitoring,and other applications,due to the complex terrain and difficult access for personnel,wireless sensor network-based systems are easier to be deployed and maintained than wired systems.However,the deployment of wireless sensor nodes is difficult,which is one of the current research hot issues.With its excellent obstacle-crossing ability,the Jumping Robot Sensor Node(Jumping Robot Sensor Node,JRSN)can jump up obstacles several times higher than itself to improve the network performance.However,the self-deployment of the mini JRSN in rugged environments faces great challenges.At the same time,it is difficult to complete long-distance self-deployment due to its small size and limited endurance.Therefore,this paper carries out the 3D environment self-deployment research based on the locust-like JRSN developed in the laboratory previously,and completes the following main research work:(1)To realize the continuous jumping function in JRSN self-deployment,the optimization of the attitude adjustment mechanism and the design of the anti-collision protection mechanism for the JRSN have been completed,and the functions of autonomous self-righting and autonomous heading adjustment have been realized.(2)A scheme for detecting obstacle information with the infrared range sensor is proposed.The UWB positioning technology is studied combining the function of JRSN,and the positioning function of JRSN is realized.(3)Give the discrete and jump characteristics of JRSN movement,based on the A* algorithm,this paper studies how to traversal the adjacent nodes,the judgment of the passable area,and the method of priority calculation.Besides,this paper proposes two kinds of planning schemes of detour type and leapfrog type and carries out simulation experiment analysis in MATLAB.(4)A 2D self-deployment algorithm for heading dynamic adjustment and a two-step strategy is proposed for a plane environment with no obstacles.Give the obstacle environment,combined with the jumping error model,a strategy of local dynamic adjustment based on the planning sequence point,combined with the jumping error and obstacle detection information is proposed,and the 3D environment self-deployment algorithm is realized.(5)Propose a miniature JRSN carrying and self-deployment scheme based on a mobile carrier robot to realize long-distance self-deployment of JRSN.Base on the above research work,the prototype system of JRSN and mobile carrier robot are designed and implemented,and a large number of experimental studies are carried out.The jumping function of JRSN is tested.The jumping height is about 25 cm and the distance is about45 cm.The self-righting and autonomous heading adjustment test results prove the stability of the design.The obstacle detection function test is carried out on the obstacles with width and height of 25.5cm×25.5cm within the range of 20cm?50cm.The experimental results show that the average error of height detection is 1.7cm,and the width detection the average error is 5.2cm.The continuous jump and positioning function of JRSN is tested,and the experimental results shows that the average positioning error is 9.08 cm.The basic motion function of the mobile carrier robot is tested,and the experimental results show the stability and accuracy of the basic motion function.Four 2D self-deployment experiments are carried out in the obstacle-free environment,all of which are deployed into the range of 25 cm around the target point.Single JRSN and multiple JRSN self-deployment experiments in the obstacle environment are carried out,the average deployment error is 14.8cm,the experimental results show the feasibility and accuracy of the JRSN self-deployment scheme designed in this paper.The research work of this paper has made a positive promotion to JRSN's application.