An OFDM Based Solution for Wireless Control of Serpentine Robot Employed in a Mobile Adhoc Network (MANET)

The world has been suffering from many natural and man caused catastrophic disasters during the last decades, such as large-scale earthquakes and terrorist attacks. In such events, collapsing of houses and buildings in large areas is almost inevitable. The basic idea of designing a biologically inspired robot is to study its natural behavior with an equivalent robotic model to be employed further in some specific job like disaster management. This work has been executed for controlling a series of snake robots involved in a hazardous environment like coal mines. The controller designed with DSP processor for high sped processing (225MHz) and sharp edge filtering facilities are programmed to execute a set of files to exhibit lateral undulation, rectilinear motion, concertina movement etc. The novelty of this work is on controlling all the snake agents within the network via a wireless link from a remote station building a map of the unknown environment from the transmitted data in a secured way. Problems due to inter-symbol interference (ISI), multipath fading and limitation of ISM band have also been considered. Key-Words: biologically inspired robot, snake robot, OFDM, MANET