Title :
Online real-time path planning for mobile robots based on wireless sensor network under unknown environment
Author :
Xue Han ; Ma Hong-xu
Author_Institution :
Coll. of Electromech. Eng. & Autom., Nat. Univ. of Defense Technol., Changsha
Abstract :
Utilizing the advantages of wireless sensor network, sensor fusion for building occupancy grid map using probabilistic sensor model and ant colony algorithm using bionic swarm intelligence, an online real-time path planning algorithm for mobile nodes under unknown dynamic environment is proposed through three level planning control strategy. A practical implementation has been carried out to demonstrate the enhanced efficiency and accuracy of the proposed algorithm.
Keywords :
control engineering computing; microsensors; mobile robots; optimisation; path planning; sensor fusion; wireless sensor networks; ant colony algorithm; bionic swarm intelligence; mobile robots; occupancy grid map; online real-time path planning; probabilistic sensor model; sensor fusion; wireless sensor network; Intelligent sensors; Mobile robots; Motion planning; Particle swarm optimization; Path planning; Robot sensing systems; Robotics and automation; Sensor fusion; Strategic planning; Wireless sensor networks; Ant Colony algorithm; Multi-sensor Fusion; Online Real-time Path Planning; Probabilistic Map Building; Wireless Sensor Network; swarm intelligence;
Conference_Titel :
Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on
Conference_Location :
Sanya
Print_ISBN :
978-1-4244-1761-2
Electronic_ISBN :
978-1-4244-1758-2
DOI :
10.1109/ROBIO.2007.4522244
