| 摘要 |
PURPOSE: A communication method of CSMA/CRR(Carrier Sense Multiple Access/Collision Report and Reservation) is provided to retransmit communication packets according to the priority after communication collision, thereby using the communication method appropriate for a wireless communication protocol of a distributed robot system. CONSTITUTION: When collision is generated by four robots(101,102,103,104) simultaneously starting transmission, each robot is changed into a receiving mode to confirm a communication channel(110). After detecting the collision, the robots(101,102,103,104) measure time (T_cn) required from a point terminating own transmission to a point receiving a signal from only one robot. After the second robot(102) waits as much as T_cn after transmitting a CR-R signal, each robot transmits a CR-R signal and counts the order of own CR-R signal. After receiving the first CR-R signal, the third robot(103) transmits the second CR-R signal after waiting as much as T_c1. The fourth robot(104) transmits the third CR-R signal after waiting as much as T_c2. The fourth robot(104) firstly transmits packets. The third robot(103), the second robot(102), and the first robot(101) sequentially transmit packets.
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