ARRIBOT- An Enabler For Studying Mobile Wireless Sensor Networks

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2007-08-23T01:56:23Z

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Electrical Engineering

Abstract

The objective of this thesis is to structure a mobile wireless sensor network using low cost, custom made robotic platforms. Over the years, several projects have proved that the performance of a static wireless sensor network (WSN) is greatly enhanced by using mobile WSN for applications like adaptive exploration or in search and rescue missions where the network topology changes with changes in the environment. A low cost, mobile wireless sensor node known as the ARRI BOT has been designed to contribute along with other robotic platforms in structuring an ingenious mobile wireless sensor network (MSWN). The ARRI BOT has the ability to navigate and localize and can extend its lifetime in a network by harvesting solar energy and vibration energy required for its operations. The robot has been tested to validate several robotic algorithms such as Adaptive Sampling, Localization using static beacons and navigation using obstacle avoidance. This thesis has contributed in designing a second generation of ARRI BOT which incorporates Crossbow's crickets for wireless communication and localization, ultrasonic ranging module for obstacle avoidance, color sensor for validating sampling algorithms, servos, encoders for dead reckoning and a solar panel for charging the on-board batteries. Javelin stamp microcontroller controls the intelligence of the robot and the mentioned modules are interfaced to it. The second generation ARRI BOT has been also tested for fundamental localization technique using Crossbow's crickets.

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