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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.

Document type: Conference Paper
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Title Path planning for sensor data collecting mobile robot
Author(s) Pathirana, Pubudu
Black, Timothy
Nahavandi, Saeid
Conference name Intelligent sensors, sensor networks and information processing conference (2nd : 2005 : Melbourne, Vic.)
Conference location Melbourne, Vic.
Conference dates 5-8 December 2005
Title of proceedings Proceedings of the 2005 intelligent sensors, sensor networks and information processing conference
Editor(s) Palaniswami, M.
Publication date 2005
Conference series Intelligent Sensors, Sensor Networks and Information Conference
Start page 313
End page 317
Publisher IEEE
Place of publication Piscataway, N.J.
Summary 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.
Notes 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.
ISBN 0780394003
0780393996
Language eng
Field of Research 099999 Engineering not elsewhere classified
HERDC Research category E1 Full written paper - refereed
Copyright notice ©2005, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30005650
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