A Wireless Communication Method with Dynamic Adding Nodes for the Underground Search and Rescue Robot

有为地下的搜索和营救机器人的动态增加的节点的一个无线通讯方法被建议：修理控制器的地址，动态地增加 repeater 节点进网络，并且转移活动终端的地址。与这个方法，搜索和营救机器人能到达一个矿的更深的地方帮助在一条单个隧道通过无线通讯与控制器救并且保持联系，甚至在收音机波浪不能通过厚墙的一个复杂巷道。在在单个隧道的双向多跳跃通讯的过程的碰撞将被通讯方向优先级和反应信号机制也解决，到提高通讯的可靠性。最后，一件样品被设计，一个实验被进行验证方法的效率。

A wireless communication method with dynamic adding nodes for Underground Search and Rescue robot is proposed： fix the address of the controller, add repeater nodes into the net dynamically, and shift the address of the mobile terminal. With this method, the Search and Rescue robot can reach the deeper place of a mine to help rescue and keep in touch with the controller through wireless communication in a single channel, even in a complex laneway where radio wave cannot go through the thick wall. The collision in the process of the two-way multi-hop communication in the single channel will also be resolved by the communication direction priority and response signal mechanism, to enhance the reliability of communication. Finally, a sample is designed and an experiment is conducted to verify the efficiency of the method.