摘要
利用通信来改善多机器人系统协调控制的性能成为近几年来的研究热点,而随着多机器人技术和无线通信的快速发展,基于扩频通信技术的多机器人通信系统成为两种技术结合的产物。将码分多址技术应用于多机器人通信平台中,通过分析Walsh码、m序列的相关特性,引入改进的m-Walsh序列,得到相关特性最佳的直扩序列,在此基础上提出了一种改进的RAKE接收方案。通过Matlab/Simlunk仿真分析,该方案较好地满足了多机器人系统在通信的实时性、可靠性、保密性和抗干扰性等方面的要求,对多机器人通信机制的研究具有重要意义。
It has become a hot research topic that to improve the coordination performance of multi-robotic system by communication. With rapid development of wireless communication and robot technologies, multi-robotic system based on spread-spectrum technology has become product of combining two technologies. Code division multiple access （CDMA） technology is applied in multi-robotic communication system here. According to the modified m-Walsh sequence got by the way of analyzing the relation characteristic of Walsh-code and m-sequence, the best direct sequence spread spectrum （DSSS） PN code and the improved RAKE receiver scheme are proposed, which satisfied the requirements of real-time performance, reliability, confidentiality and anti-interference performance in multi-robotic communication system, and have great significance for the research of multi-robotic communication system.
出处
《兵工自动化》
2013年第10期40-43,共4页
Ordnance Industry Automation
基金
湖南省教育厅资助科研项目
基于网络控制的家庭服务机器人关键技术研究与应用(12C1175)
关键词
多机器人
技术
扩频
WALSH码
multi-robotic
technology
spread spectrum
Walsh code
