Autonomous navigation of robotic units in mobile sensor network

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dc.citation.epage949en_US
dc.citation.issueNumber5en_US
dc.citation.spage938en_US
dc.citation.volumeNumber45en_US
dc.contributor.authorNazlibilek, S.en_US
dc.date.accessioned2016-02-08T09:46:24Z
dc.date.available2016-02-08T09:46:24Z
dc.date.issued2012en_US
dc.departmentNanotechnology Research Center (NANOTAM)en_US
dc.description.abstractThis 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.en_US
dc.description.provenanceMade available in DSpace on 2016-02-08T09:46:24Z (GMT). No. of bitstreams: 1 bilkent-research-paper.pdf: 70227 bytes, checksum: 26e812c6f5156f83f0e77b261a471b5a (MD5) Previous issue date: 2012en
dc.identifier.doi10.1016/j.measurement.2012.01.050en_US
dc.identifier.issn0263-2241
dc.identifier.urihttp://hdl.handle.net/11693/21440
dc.language.isoEnglishen_US
dc.relation.isversionofhttp://dx.doi.org/10.1016/j.measurement.2012.01.050en_US
dc.source.titleMeasurement: Journal of the International Measurement Confederationen_US
dc.subjectLocalizationen_US
dc.subjectMagnetic anomalyen_US
dc.subjectMobile robotsen_US
dc.subjectNavigationen_US
dc.subjectPositioningen_US
dc.subjectSensor networksen_US
dc.subjectAnti-personnel minesen_US
dc.subjectAutonomous navigationen_US
dc.subjectCollective behavioren_US
dc.subjectEarth magnetic fieldsen_US
dc.subjectLocal fieldsen_US
dc.subjectLocal positioning systemen_US
dc.subjectLocalizationen_US
dc.subjectMagnetic anomaliesen_US
dc.subjectMobile roboticen_US
dc.subjectMobile sensor networksen_US
dc.subjectMobile sensorsen_US
dc.subjectNavigation problemen_US
dc.subjectOperational areaen_US
dc.subjectPositioningen_US
dc.subjectPositioning methodsen_US
dc.subjectPositioning systemen_US
dc.subjectPotential fielden_US
dc.subjectRadio frequenciesen_US
dc.subjectRobotic unitsen_US
dc.subjectGeomagnetismen_US
dc.subjectMobile robotsen_US
dc.subjectNavigation systemsen_US
dc.subjectRadio wavesen_US
dc.subjectRoboticsen_US
dc.subjectSensor networksen_US
dc.subjectTime division multiple accessen_US
dc.subjectUltra-wideband (UWB)en_US
dc.subjectUltrasonicsen_US
dc.subjectNavigationen_US
dc.titleAutonomous navigation of robotic units in mobile sensor networken_US
dc.typeArticleen_US

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