Mobile robot navigation using a sensor network

被引：97
|
作者：
Batalin, MA [1 ]
Sukhatme, GS [1 ]
Hattig, M [1 ]
机构：
[1] Univ So Calif, Comp Sci Dept, Ctr Robot & Embedded Syst, Robot Embedded Syst Lab, Los Angeles, CA 90089 USA
来源：
2004 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1- 5, PROCEEDINGS | 2004年
关键词：
D O I：
10.1109/ROBOT.2004.1307220
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We describe an algorithm for robot navigation using a sensor network embedded in the environment. Sensor nodes act as signposts for the robot to follow, thus obviating the need for a map or localization on the part of the robot. Navigation directions are computed within the network (not on the robot) using value iteration. Using small low-power radios, the robot communicates with nodes in the network locally, and makes navigation decisions based on which node it is near. An algorithm based on processing of radio signal strength data was developed so the robot could successfully decide which node neighborhood it belonged to. Extensive experiments with a robot and a sensor network confirm the validity of the approach.
引用
收藏
页码：636 / 641
页数：6
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