Wireless Communications in Tunnels for Urban Search and Rescue Robots
Catherine A. Remley, George Hough, Galen H. Koepke, Dennis G. Camell, Robert Johnk, Chriss A. Grosvenor
We report on propagation tests carried out in a subterranean tunnel to support improved wireless communications for urban search and rescue robots. We describe single-frequency and ultrawideband channel-characterization tests that we conducted, as well as tests of telemetry and control on a robot. We utilize propagation models of both single-frequency path loss and channel capacity to predict robot performance. These models can also be used for optimizing wireless communications in tunnels of various sizes, materials, and surface roughness.