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      Autonomous navigation of robotic units in mobile sensor network

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      Author(s)
      Nazlibilek, S.
      Date
      2012
      Source Title
      Measurement: Journal of the International Measurement Confederation
      Print ISSN
      0263-2241
      Volume
      45
      Issue
      5
      Pages
      938 - 949
      Language
      English
      Type
      Article
      Item Usage Stats
      247
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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
      Localization
      Magnetic 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/11693/21440
      Published Version (Please cite this version)
      http://dx.doi.org/10.1016/j.measurement.2012.01.050
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