Title :
Experimental validation of cooperative environmental boundary tracking with on-board sensors
Author :
Joshi, Abhijeet ; Ashley, Trevor ; Huang, Yuan R. ; Bertozzi, Andrea L.
Author_Institution :
Dept. of Electr. Eng., Univ. of California Los Angeles, Los Angeles, CA, USA
Abstract :
This paper describes a cooperative testbed implementation of a new algorithm (Jin and Bertozzi, CDC 2007) for environmental boundary tracking and estimation using only localized noisy sensors. The tracking algorithm is based on Page´s cumulative sum algorithm (CUSUM) a method for change-point detection. A geometric, biologically inspired, motion control algorithm allows individual vehicles to track and follow the environmental boundary without external positioning information. Relative positioning between vehicles allows several to maintain a convoy while tracking the boundary. The algorithm performs well in the presence of moderate sensor noise.
Keywords :
mobile robots; motion control; position control; sensors; change-point detection; cooperative autonomous vehicles; cooperative environmental boundary tracking; cumulative sum algorithm; localized noisy sensors; motion control algorithm; onboard sensors; Change detection algorithms; Fires; Remotely operated vehicles; Robot kinematics; Robot sensing systems; Sea measurements; Sensor phenomena and characterization; Testing; Tracking; Working environment noise;
Conference_Titel :
American Control Conference, 2009. ACC '09.
Conference_Location :
St. Louis, MO
Print_ISBN :
978-1-4244-4523-3
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2009.5159837
