TY - JOUR
T1 - Path planning in GPS-denied environments via collective intelligence of distributed sensor networks
AU - Jha, Devesh K.
AU - Chattopadhyay, Pritthi
AU - Sarkar, Soumik
AU - Ray, Asok
N1 - Publisher Copyright:
© 2015 Taylor & Francis.
PY - 2016/5/3
Y1 - 2016/5/3
N2 - This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubins car-like robot.
AB - This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubins car-like robot.
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U2 - 10.1080/00207179.2015.1110754
DO - 10.1080/00207179.2015.1110754
M3 - Article
AN - SCOPUS:84958765735
SN - 0020-7179
VL - 89
SP - 984
EP - 999
JO - International Journal of Control
JF - International Journal of Control
IS - 5
ER -