Design of a Multi-P3-AT- Robot Platform Using Ad Hoc Network

摘要

Multi-robot system is one of the important study topics of robotics. Many near field wireless communication technologies are used in different systems nowadays. In this paper, the Zigbee module is chosen as the wireless communication solution for Multi-P3-AT- Robot Platform since it can build the Ad Hoc Network. Tests of the combination of different network topology structure and data sending mode were made using two platforms and three platforms. According to the test results and the application requirement, the star network topology and the broadcasting mode is configured in the Zigbee module which is used to build the Ad hoc network for multi-P3-AT-robot platform. Through the ability of self-organizing network, each platform can realize data interaction with other robots, and task planning & coordination between platforms. Moreover, the communication between each two platforms will not be affected although the connection may change due to the movement of the platform.