Wireless sensory control for mobile robot navigation

Author

Popa, M. ; Marcu, M. ; Popa, A.S.

Author_Institution

Fac. of Autom. & Comput., Politeh. Univ. of Timisoara, Timisoara, Romania

fYear

2009

fDate

25-26 Sept. 2009

Firstpage

197

Lastpage

201

Abstract

Autonomous navigation is an important problem in mobile robotics. Various solutions have been proposed part of them being sensor based. The use of the sensors offers flexibility and adaptability to the robot but has also disadvantages: it may need powerful processing units, mounted on the robot and it is difficult to represent correctly and in all details the environment and the position of the robot due to errors in the data collected by the sensors. This paper presents a wireless sensory control for mobile robot navigation. The Cricket family of sensors and the X80 wheeled robot from DrRobot were used. The processing needs for computing the robot´s trajectory were moved at the PC level. A sensor controls the navigation of the robot. It is wirelessly connected to a similar sensor attached to a PC. The PC commands the robot, being informed about its position and motion by other wireless sensors. The software was developed at sensors, robot and PC levels.

Keywords

control engineering computing; mobile robots; position control; wireless sensor networks; Cricket sensors; DrRobot; X80 wheeled robot; autonomous navigation; mobile robot; robot trajectory; wireless sensors; wireless sensory control; Automatic control; Error correction; Mobile robots; Motion planning; Navigation; Robot control; Robot sensing systems; Robotics and automation; Sensor phenomena and characterization; Wireless sensor networks;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Systems and Informatics, 2009. SISY '09. 7th International Symposium on

Conference_Location

Subotica

Print_ISBN

978-1-4244-5348-1

Electronic_ISBN

978-1-4244-5349-8

Type

conf

DOI

10.1109/SISY.2009.5291164

Filename

5291164