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Paper TuA310.4

Deshpande, Nikhil (North Carolina State University), Grant, Edward (North Carolina State University), Henderson, Thomas C. (University of Utah)

Target-Directed Navigation Using Wireless Sensor Networks and Implicit Surface Interpolation

Scheduled for presentation during the Interactive Session "Interactive Session TuA-3" (TuA310), Tuesday, May 15, 2012, 09:30−10:00, Ballroom D

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 22, 2018

Keywords Sensor Networks, Motion and Path Planning, Distributed Robot Systems

Abstract

This paper extends the novel research for event localization and target-directed navigation using a deployed wireless sensor network (WSN) [4]. The goal is to have an autonomous mobile robot (AMR) navigate to a target-location by: (i) producing an artificial magnitude distribution within the WSN-covered region, and (ii) having the AMR use the pseudo-gradient from the interpolated distribution in its neighborhood, as it moves towards the target location. Implicit surfaces are used to interpolate the artificial distribution. This scheme only uses the topology of the WSN and received signal strength (RSS) to estimate an efficient navigation path for the AMR. Here, the AMR does not require global coordinates for the region, as it relies on local, neighborhood information alone to navigate. The performance of the scheme is analyzed with hardware experiments and in simulation, using a variety of node-densities and with increasing levels of noise to ensure robustness.

 

 

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