As most mobile robots are powered by batteries, their energy and operation times are limited. Therefore, how to minimize energy consumption and keep mobile robots to stay alive becomes an important problem. In this paper, by applying a dynamic energy-evaluation scheme, in which we consider if a robot has enough energy to go to next location, finish the task and return to the docking station in the path planning, we propose two staying-alive and energy-efficient path planning approaches based on the greedy TSP and Tabu-search methods, respectively. The experimental results show that our Tabu-search-based approach is the best and can provide an effective path planning by which a robot can be guaranteed to stay alive and finish all tasks with the minimum energy.
Most of traditional gas monitoring uses wired or handled devices to transmit signals, while the complicated wiring causes great inconvenience for power supply, signal transmission, management and maintenance. To overcome these shortcomings, the paper gives a wireless combustible gas monitoring solution based on ZigBee technique using CC2530 chip which made by TI (Texas Instruments) [1] as the master chip, in which the ZigBee condense protocol is analyzed, network building solution is given, the software for application layer and driver are designed, and the real-time monitoring of combustible gas and selfish network building of sensor nodes are completed. The study results demonstrate that the parameters such as combustible gas concentration, micro-seismic signal under the case of harsh environment can be collected.
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