NDLI: Distributed unmanned ground vehicle navigation in coordinate-free and localization-free wireless sensor and actuator networks

Content Provider	IEEE Xplore Digital Library
Author	Guyu Zhang Duncan, C.A. Kanno, J. Selmic, R.R.
Copyright Year	2011
Description	Author affiliation: Louisiana Tech University, Ruston, 71272, USA (Guyu Zhang; Duncan, C.A.; Kanno, J.; Selmic, R.R.)
Abstract	We present a distributed algorithm for the navigation of an Unmanned Ground Vehicle (UGV) towards a set of identified target nodes in coordinate-free and localization-free wireless sensor and actuator networks. The navigation algorithm proceeds in two phases: first, a node level is determined based on a hop distance from the target nodes, which is accomplished by the network nodes without the need for any UGV action; and second, the UGV uses potential fields created by the network actuators to move towards the target nodes, requiring cooperation between certain actuator nodes and the UGV. The hop distance to the target nodes is used to control the main moving direction while the potential field, which can be measured by listeners on the UGV, is used to determine the UGV's movement. The major contribution of this paper is that the algorithm is fully distributed compared to the existing results in the field, which is suitable for real-time implementation. Meanwhile, the presenting algorithm uses three actuators to generate a potential field, which makes the algorithm more robust and flexible. A study on the communication complexity of the algorithm is presented as well as simulation examples that verify the presented algorithm.
Starting Page	7262
Ending Page	7267
File Size	440742
Page Count	6
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6160238
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Actuators Navigation Robot sensing systems Complexity theory Accuracy Wireless sensor networks
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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