Autonomous navigation of robotic units in mobile sensor network
Author(s)
Date
2012Source Title
Measurement: Journal of the International Measurement Confederation
Print ISSN
0263-2241
Volume
45
Issue
5
Pages
938 - 949
Language
English
Type
ArticleItem Usage Stats
247
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244
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Abstract
This work is motivated by the problem of detecting buried anti-tank and anti-personnel mines in roads or some border regions. The problem is tried to be solved by use of small mobile robotic sensors and their some abilities such as measurement of local fields, navigation around a region, communications with each other, and constituting team within a mission area. The aim of this work is to investigate the navigation problem for the team behavior of mobile sensors within a potential field available in a small-scale environment such as an indoor area or an outdoor region. The mobile sensor network here is a collection of robotic units with sensing capability of earth magnetic field anomalies. A new kind of positioning system is needed for their collective behavior. In this work, a new method of navigation is proposed as a local positioning system. It utilizes ultrasound and radio frequency information to determine the coordinates of the points inside the operational area. The method proposed here is compared with the ultra wideband ranging ping-pong method that is used widely in recent applications. A time division multiple access method is used for the communications among the mobile sensors. The results on the positioning methods together with several simulations and experimental works are given. It is shown that the positioning method utilizing ultrasound-radio frequency method can give fairly good results. © 2012 Elsevier Ltd. All rights reserved.
Keywords
LocalizationMagnetic anomaly
Mobile robots
Navigation
Positioning
Sensor networks
Anti-personnel mines
Autonomous navigation
Collective behavior
Earth magnetic fields
Local fields
Local positioning system
Localization
Magnetic anomalies
Mobile robotic
Mobile sensor networks
Mobile sensors
Navigation problem
Operational area
Positioning
Positioning methods
Positioning system
Potential field
Radio frequencies
Robotic units
Geomagnetism
Mobile robots
Navigation systems
Radio waves
Robotics
Sensor networks
Time division multiple access
Ultra-wideband (UWB)
Ultrasonics
Navigation
Permalink
http://hdl.handle.net/11693/21440Published Version (Please cite this version)
http://dx.doi.org/10.1016/j.measurement.2012.01.050Collections
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