DocumentCode :
2944737
Title :
PN-WSNA-based implementation for autonomous mobile robot navigation systems
Author :
Chen, Ting-Shuo ; Kuo, Yu-Chen ; Kuo, Chung-Hsien
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ. of Sci. & Technol., Taipei, Taiwan
fYear :
2012
fDate :
11-14 July 2012
Firstpage :
867
Lastpage :
872
Abstract :
This paper presents the implementations of autonomous mobile robot navigations by using the Petri net (PN) based wireless sensor node architecture (PN-WSNA) approach. With the PN-WSNA, the robot navigation systems can be realized in terms of PN-WSNA models, instead of using native codes. The PN-WSNA-based navigation system is responsible for navigating the mobile robot to the goal position in terms of the control scenarios of goal reaching and obstacle avoidances. The sensor places are used to collect the obstacle distances in three directions. In order to evaluate the performance of the PN-WSNA-based navigation system, a robot simulation program is created by considering the robot´s kinematics to evaluate the robot´s location based on two wheels´ velocities. In addition, the obstacles´ distances in three front directions can be also generated from the given simulation environment. Finally, the experiment results were discussed, and they also verified the idea of using the PN-WSNA model-based implementation approach for mobile robot navigations.
Keywords :
Petri nets; collision avoidance; mobile robots; robot kinematics; simulation; wireless sensor networks; PN-WSNA-based implementation; PN-WSNA-based navigation system; Petri net based wireless sensor node architecture approach; autonomous mobile robot navigation systems; goal reaching; native codes; obstacle avoidances; robot kinematics; robot simulation program; wheel velocities; Firing; Mobile robots; Navigation; Robot kinematics; Robot sensing systems; Wheels; Petri nets; autonomous sensor node; robot navigations;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics (AIM), 2012 IEEE/ASME International Conference on
Conference_Location :
Kachsiung
ISSN :
2159-6247
Print_ISBN :
978-1-4673-2575-2
Type :
conf
DOI :
10.1109/AIM.2012.6266013
Filename :
6266013
Link To Document :
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