PERFORMANCE ANALYSIS OF ANTI-COLLISION ENABLED ROBOT USING HYBRID BEACON SCHEDULING APPROACH

Abstract

In multi-robot environment, when many robots are moving in the same workspace, there is a possibility of their physical collision with themselves as well as with physical objects. In this study, hybrid beacon scheduling protocol is proposed and for avoiding such collisions in robotic mobile environment with low latency and power consumption. The purpose of deploying this protocol is to collect relevant data for processing and reporting. In particular, based on data reporting, the robotic nodes can be classified as time-driven or event-driven. The motivation behind this research is that it dynamically switches between the event-driven data-reporting and time-driven data-reporting schemes. As such, the proposed protocol accurately analyzes the environment being monitored using only moderate resource consumption. We have implemented the proposed protocol on a network simulator and analyzed its behaviors under various conditions.