Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information

Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information

In a hybrid wireless sensor network with mobile and static nodes, which have no prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. In this paper, we propose two novel navigation algorithms for outdoor environments, which permit robots to travel from...

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Main Authors: Zheng Zhang, Zhenbo Li, Dawei Zhang, Jiapin Chen
Format: Article
Language:English
Published: SAGE Publishing 2013-03-01
Series:International Journal of Advanced Robotic Systems
Online Access:https://doi.org/10.5772/55790
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spelling doaj-a15ca6dd68c14e22838f68af0574649a2020-11-25T03:17:14ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142013-03-011010.5772/5579010.5772_55790Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location InformationZheng Zhang0Zhenbo Li1Dawei Zhang2Jiapin Chen3 National Key Laboratory of Nano/Micro Fabrication Technology, Key laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro and Nano Science and Technology, Shanghai Jiao Tong University, Shanghai, P. R. China National Key Laboratory of Nano/Micro Fabrication Technology, Key laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro and Nano Science and Technology, Shanghai Jiao Tong University, Shanghai, P. R. China National Key Laboratory of Nano/Micro Fabrication Technology, Key laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro and Nano Science and Technology, Shanghai Jiao Tong University, Shanghai, P. R. China National Key Laboratory of Nano/Micro Fabrication Technology, Key laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro and Nano Science and Technology, Shanghai Jiao Tong University, Shanghai, P. R. ChinaIn a hybrid wireless sensor network with mobile and static nodes, which have no prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. In this paper, we propose two novel navigation algorithms for outdoor environments, which permit robots to travel from one static node to another along a planned path in the sensor field, namely the RAC and the IMAP algorithms. Using this, the robot can navigate without the help of a map, GPS or extra sensor modules, only using the received signal strength indication (RSSI) and odometry. Therefore, our algorithms have the advantage of being cost-effective. In addition, a path planning algorithm to schedule mobile robots' travelling paths is presented, which focuses on shorter distances and robust paths for robots by considering the RSSI-Distance characteristics. The simulations and experiments conducted with an autonomous mobile robot show the effectiveness of the proposed algorithms in an outdoor environment.https://doi.org/10.5772/55790
collection DOAJ
language English
format Article
sources DOAJ
author Zheng Zhang
Zhenbo Li
Dawei Zhang
Jiapin Chen
spellingShingle Zheng Zhang
Zhenbo Li
Dawei Zhang
Jiapin Chen
Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information
International Journal of Advanced Robotic Systems
author_facet Zheng Zhang
Zhenbo Li
Dawei Zhang
Jiapin Chen
author_sort Zheng Zhang
title Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information
title_short Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information
title_full Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information
title_fullStr Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information
title_full_unstemmed Path Planning and Navigation for Mobile Robots in a Hybrid Sensor Network without Prior Location Information
title_sort path planning and navigation for mobile robots in a hybrid sensor network without prior location information
publisher SAGE Publishing
series International Journal of Advanced Robotic Systems
issn 1729-8814
publishDate 2013-03-01
description In a hybrid wireless sensor network with mobile and static nodes, which have no prior geographical knowledge, successful navigation for mobile robots is one of the main challenges. In this paper, we propose two novel navigation algorithms for outdoor environments, which permit robots to travel from one static node to another along a planned path in the sensor field, namely the RAC and the IMAP algorithms. Using this, the robot can navigate without the help of a map, GPS or extra sensor modules, only using the received signal strength indication (RSSI) and odometry. Therefore, our algorithms have the advantage of being cost-effective. In addition, a path planning algorithm to schedule mobile robots' travelling paths is presented, which focuses on shorter distances and robust paths for robots by considering the RSSI-Distance characteristics. The simulations and experiments conducted with an autonomous mobile robot show the effectiveness of the proposed algorithms in an outdoor environment.
url https://doi.org/10.5772/55790
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AT daweizhang pathplanningandnavigationformobilerobotsinahybridsensornetworkwithoutpriorlocationinformation
AT jiapinchen pathplanningandnavigationformobilerobotsinahybridsensornetworkwithoutpriorlocationinformation
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