Enhanced position based routing protocols for multi-sniffer robots to perform Odour Source Localisation

摘要

The typical wireless network topology for general purpose multi-robot systems is mesh network topology. However, this most commonly used mesh network routing protocol is not the optimal solution for multi-sniffer robots, which have different characteristics as compared to other multi-robot systems. Multi-sniffer robots are to perform Odour Source Localisation (OSL) tasks i.e. searching and identifying the location of a target odour source by using a group of robots. In terms of performing OSL tasks, multi-sniffer robots have the characteristics to form coordinates that along to the upwind direction of odour plume and this type of formation is narrow and long distance. Therefore, there is a need to design a customised wireless networking routing protocol to support multi-sniffer robots to search for the target odour source in longer distance along up-wind direction. This paper proposes an enhanced wireless network routing protocol for multi-sniffer robots to select the best network routing between each client (multi-sniffer robots) and enhancing the wireless communication package arrival rate.