CAJ | 학술논문

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。
이용통신래개선다궤기인계통협조공제적성능성위근궤년래적연구열점，이수착다궤기인기술화무선통신적쾌속발전，기우확빈통신기술적다궤기인통신계통성위량충기술결합적산물。장마분다지기술응용우다궤기인통신평태중，통과분석Walsh마、m서렬적상관특성，인입개진적m-Walsh서렬，득도상관특성최가적직확서렬，재차기출상제출료일충개진적RAKE접수방안。통과Matlab/Simlunk방진분석，해방안교호지만족료다궤기인계통재통신적실시성、가고성、보밀성화항간우성등방면적요구，대다궤기인통신궤제적연구구유중요의의。
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.