Self-organized wireless network system for multiple robots based on Ad Hoc communication and UWB positioning

Abstract. This paper presents the development of a multi-robot-based wireless self-organized network system for monitoring an underground enclosed space. The object space is characterized by a lack of geometric information and preinstalled communication infrastructure, which impedes the monitoring and detection of conditions within the environment. The proposed system transmits video signals in real-time by integrating an Ad Hoc wireless communication network with Ultra Wide Band (UWB) positioning technology. Multiple robots collaborate to dynamically explore the object space, utilizing sophisticated formation control algorithms to enable robust Ad Hoc communication among themselves. This coordinated exploration is facilitated by the precise measurement and calculation of the robots' topology. The implementation of state-of-the-art UWB positioning technology achieves this level of precision. The UWB positioning technology provides high-accuracy positioning data, enabling the robots to maintain their relative positions within the formation with exceptional precision. Consequently, the robots can facilitate efficient and reliable real-time communication as they navigate through the complex environment. The experimental results indicate that the system can cover an object space area of 400m×400m with a video transmission delay of less than 150ms. This system demonstrates stable and real-time monitoring capabilities in cable channel environments, offering a novel solution for robot group monitoring in enclosed environments.