Experiments on Building Ubiquitous Robotic Space for Mobile Robot Using Wireless Sensor Networks

Ubiquitous robot is a network robot which can communicate with any devices at any time in the surrounding physical space to obtain more diverse view points of the environment. We call ubiquitous computing environment, which the network devices provide the environmental information to the robot in, ubiquitous robotic space (URS). In this paper, a sensor network platform is proposed to build the ubiquitous robotic space and provide lots of types of environment information such as indoor environment condition, fire detection, and intrusion detection. Differently from the existing sensor network applications that assume the static sensor nodes and the base station, the proposed sensor network platform is designed to support seamless environmental monitoring on the mobile robot system. We then applied our sensor network platform toe the real robot system and evaluated the functionalities of the proposed system.