Remote Control Technique with OFDMA Based Approach for Biologically Inspired Robots in a Mobile Ad hoc Network (MANET)

摘要

Wireless communication is adding improvements in remote controlling techniques of vehicles or mobile robots day by day. From mission based AGVs to biologically inspired robots each area of robotic research is being enriched from time to time with the advent of Wi-Fi technologies like 1G, 2G, and 3G etc. This paper reflects a novel approach to control a mobile ad hoc network built with a number of snake robots to monitor an area like coal mines. Each agent of this network is having DSP based controller for processing files and instructions from remote computer through a wireless network structured in orthogonal frequency division access approach. DSP controllers redirect the segments of the robot to exhibit snake-like locomotion. Desired transfer function for lateral undulation is derived using two controller design approach such as, graphical domain approach and frequency response approach and the impulse response of each controller are loaded segment-wise in each agent. Length and segment-wise distinction for every robot is considered for wireless file transfer and instruction from remote station within a limited bandwidth. Problems due to inter-symbol interference (ISI), multipath fading and limitation of ISM band have also been overcome.