Establishing an emergency communication network and optimal path using multiple autonomous rover robots

Abstract

Summary The natural calamity or disaster may destroy all communication networks especially a cellular network that relies on a tower. Although many solutions to an ad hoc wireless network have been proposed, forming a network covering a respective region with mobile robots toward optimal coverage remains to be an open problem. In this paper, we take the initiative to handle the optimal network coverage and path selection in disaster region with the help of multiple movable/rover robots. This paper consists of load balance distribution algorithm and optimal coverage algorithm applied to find the next optimally possible node location for all robots. Next, the robots maneuvering in an unknown disaster environment to identify the optimal path between the source and destination by using a particle swarm optimization algorithm. Finally, simulated results show that the algorithms can significantly improve the network coverage in the entire region, and the optimal path can effectively identify the optimal solution for all rover robots.

SP‐search‐based path planning algorithm for mobile robots using quintic trigonometric Bézier curves

“…The smooth trajectory is generated by minimizing jerk for parallel manipulators by Lu et al 5 The piecewise quintic polynomials are used in this study to satisfy continuity and smoothness. To find optimal nodes and optimal path, Sakthitharan and Jayashri 6 presented an optimal coverage and a load balance distribution algorithm and a particle swarm optimization algorithm, respectively.…”