Yes / This paper proposes a robot navigation scheme using wireless visual sensors deployed in an environment.
Different from the conventional autonomous robot approaches, the scheme intends to relieve massive on-board
information processing required by a robot to its environment so that a robot or a vehicle with less intelligence can
exhibit sophisticated mobility. A three-state snake mechanism is developed for coordinating a series of sensors to
form a reference path. Wireless visual sensors communicate internal forces with each other along the reference snake
for dynamic adjustment, react to repulsive forces from obstacles, and activate a state change in the snake body from a
flexible state to a rigid or even to a broken state due to kinematic or environmental constraints. A control snake is
further proposed as a tracker of the reference path, taking into account the robot’s non-holonomic constraint and
limited steering power. A predictive control algorithm is developed to have an optimal velocity profile under robot
dynamic constraints for the snake tracking. They together form a unified solution for robot navigation by distributed
sensors to deal with the kinematic and dynamic constraints of a robot and to react to dynamic changes in advance.
Simulations and experiments demonstrate the capability of a wireless sensor network to carry out low-level control
activities for a vehicle. / Royal Society, Natural Science Funding Council (China)
| Identifer | oai:union.ndltd.org:BRADFORD/oai:bradscholars.brad.ac.uk:10454/9996 |
| Date | 09 August 2013 |
| Creators | Cheng, Yongqiang, Jiang, Ping, Hu, Yim Fun |
| Source Sets | Bradford Scholars |
| Language | English |
| Detected Language | English |
| Type | Article, Accepted Manuscript |
| Rights | © Cambridge University Press 2013. The online version of this article is published within an Open Access environment subject to the conditions of the Creative Commons Attribution-NonCommercial-ShareAlike licence <http://creativecommons.org/licenses/by-nc-sa/3.0/>. The written permission of Cambridge University Press must be obtained for commercial re-use. |
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