Establishing an emergency communication network and optimal path usingmultiple autonomous rover robots

摘要

Thenatural calamity or disastermaydestroy all communicationnetworks especially a cellularnetworkthat relies on a tower. Although many solutions to an ad hoc wireless network have beenproposed, forming a network covering a respective regionwith mobile robots toward optimal coverageremains to be an open problem. In this paper, we take the initiative to handle the optimalnetwork coverage and path selection in disaster region with the help of multiple movable/roverrobots. This paper consists of load balance distribution algorithm and optimal coverage algorithmapplied to find the next optimally possible node location for all robots. Next, the robots maneuveringin an unknown disaster environment to identify the optimal path between the sourceand destination by using a particle swarm optimization algorithm. Finally, simulated results showthat the algorithms can significantly improve the network coverage in the entire region, and theoptimal path can effectively identify the optimal solution for all rover robots.