| Since its birth, robots seem to have been described as mysterious machines, especially in movies or cartoons with robots as protagonist. In the past, most robots are used for scientific exploration, for example they are able to reach some places that human can’t and it can acquire the relevant data to help us know more about where we can’t reach. The most notably robot is Mars Rover Curiosity in U.S., a small machine about3m in length can reach Mars where human explore for sign of life and send back a lot of valuable information by elaborate design and control. However, in recent years, with the continuous development of robot technology and the concept of smart home raised, people pay more attention to robots’ widely use in our daily life and thus housework robots are born. The birth of housework robots makes robots no longer mysterious and widely used in many fields in our life. Robots with various functions appear in industry, military, daily life and many other fields and robot technology has also become one of hot technology of the21th century.Robot plays an important role in many aspects of people’s life, but people are not satisfied with the state. We hope the robot can reach the space we can’t reach, wonder in the space, precisely locate in the space and send collected data back timely and completely. Such a simple action contains two main aspects. First aspect is how the robot can avoid the obstacles smoothly in the space in order to avoid unnecessary losses directly caused by the collision. Second aspect is how we can connect with the robot in order to effectively control the robot and get the collected data timely. For the first question, designing a complete and effective autonomous behavior system of robot is a fundamental way to solve this problem. With widely use and comprehensive coverage of wireless communication network, we also find an effective solution to the second question, that is we can connect to the robot through wireless communication network. Nowadays, in spaces we can’t reach we connect to the robot through wireless communication, therefore, how to guarantee the validity and reliability of the connection has become a key issue. In addition, the types of data robots collect may include image data, voice data, video data and other types of data and we have different quality requirements for each type of data, for example, the quality requirement of image data is lower than that of voice data and the quality requirement of voice data is lower than that of video data. Therefore, how to effectively make use of limited bandwidth of wireless communication network also becomes a hot topic. This paper designs P3DX robot’s autonomous behavior system and from the point of view to improve the quality of service of wireless communication network and guarantee the quality of different types of data, this paper analyzes and elaborates MAC layer protocol explicitly and then proposes Multi-Channel Probability-Persistent CSMA Protocol including Improved Binary Tree Collision Resolution Algorithm and analyzes the protocol in details. Computer simulation experiments prove accuracy and reasonableness of the protocol. |
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