战场地面多任务移动机器人网络系统研究

Research on battlefield ground mobile robot Ad hoc network system

针对未来战场地面无人作战的发展需求,提出一种支持多任务的移动机器人网络系统架构及其实现方案。战场机器人网络要求系统具有多任务处理能力和较高的实时性,因此提出一种全局网—任务网协同工作的两层式网络系统架构,利用全局网保证网络的连通性,针对不同任务在不同信道构建独立的任务网提供多目标多任务处理能力。同时给出双射频网络节点设计方案、任务网组网协议以及全局多跳自组网协议。现场测试表明,任务网组网时间在1 s以内,全局网组网时间在2 s左右,单点通信距离可达400 m以上且平均传输速率大于200 kbps,实现了全局多跳通信,6跳往返时延约105 ms。实验证明,提出的机器人网络系统能够满足大规模战场机器人群体实时多任务并行工作的任务需求。

In order to meet the future requirements of ground battlefield, this paper proposed a kind of two layers multitasking mobile robot network system architecture and its implementation scheme. The battlefield robot network systems request muhi- tasking ability and high real-time property, thus this paper proposed network system architecture included global network and task network working together. Then presented the detailed design of the double RF network nodes, the task network protocol and the global Ad hoc network protocol in the following sections. The field tests show that the networking time of task network is less than 1 second and the global network is about 2 seconds, the point to point communication distance of the nodes is more than 400 meters and the average transfer rate of the link layer is more than 200 kbps. To achieve a muhi-hop communication, it got the 6-hop round-trip delay was about 105 ms. The experiments results show that the proposed robot network system can satisfy the battlefield robots group in parallel work mission and real-time requirements.