自律分散型ロボット環境に適した適応型通信プロトコルの提案

概要

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In autonomous distributed robot systems many robots cooperate together to carry out many difficult tasks that single robots can not realize. But, in order to cooperate together the robots should communicate with each other. Therefore, the inter communication among robots is very important problem to be solved. In this paper, we propose an Adaptive Reservation-Time Division Multiple Access (AR-TDMA) protocol which can realize a real time communication among robots in a heterogeneous environment by using a reservation mechanism. Also, by using an adaptive time slot allocation method, the protocol has a flexible behavior and can deal with the changes of number of robots. Furthermore, the proposed protocol can reduce the packet collision probability.
山形県立産業技術短期大学校,ヤマガタケンリツサンギョウギジュツタンキダイガッコウ,Yamagata College of Industry & Technologyの論文
2003-09-01