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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Xiaohai Li Yu Wang Jizhong Xiao |
| Copyright Year | 2011 |
| Description | Author affiliation: Department of Computer Engineering Technology, NYC College of Technology, City University of New York, Brooklyn, 11201, U.S.A. (Xiaohai Li; Yu Wang) || Department of Electrical and Computer Engineering, City College, City University of New York, 10031, U.S.A. (Jizhong Xiao) |
| Abstract | In this paper we present a novel navigation algorithm for a mobile robot to move across an open area covered by a pre-deployed wireless sensor network. The locations of the sensor nodes are unknown. We assume that from robot's starting position to the target location, there always exists a known path that the robot should move along. By using Lie derivative, we investigate the changing of signal strength difference along the vector field of robot's motion, and analytically prove that the signal strength differentiation can tell the correct direction the robot should move into. The proposed algorithm utilizes the wireless signal strength difference to guide the robot to move toward the desired sensor node at each step. The advantage of this algorithm is that the robot does not need to estimate the sensors' locations in order to topologically navigate through the unknown area and reach the target. Simulation results are included to demonstrate the proposed algorithm. |
| Starting Page | 1065 |
| Ending Page | 1070 |
| File Size | 1085603 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781612846989 |
| e-ISBN | 9781612847009 |
| DOI | 10.1109/WCICA.2011.5970679 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2011-06-21 |
| Publisher Place | Taiwan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Robot sensing systems Navigation Robot kinematics Wireless sensor networks Mobile agents Mobile robots |
| Content Type | Text |
| Resource Type | Article |
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