13 October 2008 An efficient distributed navigation algorithm for mobile robot
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Abstract
An efficient distributed algorithm for mobile nodes of wireless sensor network (WSN) is proposed. A smart mobile robot is designed as the special node of WSN, and the nodes of WSN are deployed in the environment as signposts for the robot to follow. We use the RSSI value between the robot and other static nodes as the input of the navigation control system. The mobile robot state and navigation space are denoted by the RSSI potential field. Navigation directions are computed by using fuzzy logic method. To reduce the communication expense, each node within one hop communication range of robot is a distributed navigation unites. Then the fuzzy logic control centre will collect the control outputs from every beacon nodes and calculate the final outputs for mobile robot based on data fusion. The experimental results confirm that the navigation system based on WSN successfully achieved their assigned tasks.
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Xiuping Yang, Xiuping Yang, Songyan Liu, Songyan Liu, Zhen Liu, Zhen Liu, } "An efficient distributed navigation algorithm for mobile robot", Proc. SPIE 7128, Seventh International Symposium on Instrumentation and Control Technology: Measurement Theory and Systems and Aeronautical Equipment, 712818 (13 October 2008); doi: 10.1117/12.806652; https://doi.org/10.1117/12.806652
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