Path planning for sensor data collecting mobile robot
Pathirana, Pubudu, Black, Timothy and Nahavandi, Saeid 2005, Path planning for sensor data collecting mobile robot, in Proceedings of the 2005 intelligent sensors, sensor networks and information processing conference, IEEE, Piscataway, N.J., pp. 313-317.
Proceedings of the 2005 intelligent sensors, sensor networks and information processing conference
Intelligent Sensors, Sensor Networks and Information Conference
Place of publication
A mobile robot employed for data collection is faced with the problem of travelling from an initial location to a final location while maintaining as close a distance as possible to all the sensors at a given time in the journey. Here we employ optimal control ideas in forming the necessary control commands for such a robot resulting not only the necessary acceleration commands for the underlying robot, but also the resulting trajectory. This approach can also be easily extended for the case of producing the optimal trajectory for an ariel vehicle used for data collection from indiscriminately scattered ad-hoc sensors located on the ground. We demonstrate the implementation of our algorithm using a Pioneer 3-AT robot.
This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.
Unless expressly stated otherwise, the copyright for items in Deakin Research Online is owned by the author, with all rights reserved.
Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO.
If you believe that your rights have been infringed by this repository, please contact firstname.lastname@example.org.