TY - GEN
T1 - Theseus gradient guide
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
AU - Zhang, Xiaochen
AU - Sun, Yi
AU - Xiao, Jizhong
AU - Cabrera-Mora, Flavio
PY - 2011
Y1 - 2011
N2 - The searching for a location-unknown radio transmitter is a challenging task for autonomous robot. We propose an adaptive searching algorithm named theseus gradient guide (TGG) which is designed for solving the searching problem in indoor environments using received signal strength (RSS). While the RSS gradient serves as the main guide, the robot prefers to move to the places which have never been traveled. Thus the robot will not get stuck in the local maxima. Moreover, unlike the commonly used random kick strategy the TGG drives the robot escaping the local maxima with low cost in terms of travel distance. Meanwhile, TGG is not sensitive to motion errors. Simulation results show that the searches using TGG cost much less compared with those using other gradient based methods in our testing indoor environment. Guided by TGG, the robot can successfully reach the location-unknown radio transmitter with a ratio over 97% when the standard deviation of motion error is up to 20% of the step length.
AB - The searching for a location-unknown radio transmitter is a challenging task for autonomous robot. We propose an adaptive searching algorithm named theseus gradient guide (TGG) which is designed for solving the searching problem in indoor environments using received signal strength (RSS). While the RSS gradient serves as the main guide, the robot prefers to move to the places which have never been traveled. Thus the robot will not get stuck in the local maxima. Moreover, unlike the commonly used random kick strategy the TGG drives the robot escaping the local maxima with low cost in terms of travel distance. Meanwhile, TGG is not sensitive to motion errors. Simulation results show that the searches using TGG cost much less compared with those using other gradient based methods in our testing indoor environment. Guided by TGG, the robot can successfully reach the location-unknown radio transmitter with a ratio over 97% when the standard deviation of motion error is up to 20% of the step length.
UR - http://www.scopus.com/inward/record.url?scp=84862812718&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84862812718&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980454
DO - 10.1109/ICRA.2011.5980454
M3 - Conference contribution
AN - SCOPUS:84862812718
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 2560
EP - 2565
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -