Paper Info
Title
Path Planning In Gps-Denied Environments Via Collective Intelligence Of Distributed Sensor Networks
Abstract
This paper proposes a framework for reactive goal-directed navigation without global positioning facilities in unknown dynamic environments. A mobile sensor network is used for localising regions of interest for path planning of an autonomous mobile robot. The underlying theory is an extension of a generalised gossip algorithm that has been recently developed in a language-measure-theoretic setting. The algorithm has been used to propagate local decisions of target detection over a mobile sensor network and thus, it generates a belief map for the detected target over the network. In this setting, an autonomous mobile robot may communicate only with a few mobile sensing nodes in its own neighbourhood and localise itself relative to the communicating nodes with bounded uncertainties. The robot makes use of the knowledge based on the belief of the mobile sensors to generate a sequence of way-points, leading to a possible goal. The estimated way-points are used by a sampling-based motion planning algorithm to generate feasible trajectories for the robot. The proposed concept has been validated by numerical simulation on a mobile sensor network test-bed and a Dubin's car-like robot.
Year
DOI
Venue
2016
10.1080/00207179.2015.1110754
INTERNATIONAL JOURNAL OF CONTROL
Keywords
Field
DocType
language measure, path Planning, collective intelligence, Target detection, mobile sensor network
Motion planning,Mathematical optimization,Collective intelligence,Real-time computing,Global Positioning System,Artificial intelligence,Mobile robot navigation,Mobile wireless sensor network,Engineering,Robot,Wireless sensor network,Mobile robot
Journal
Volume
Issue
ISSN
89
5
0020-7179
Citations 
PageRank 
References 
1
0.63
18
Authors
4
Name
Order
Citations
PageRank
Devesh K. Jha13211.10
Pritthi Chattopadhyay272.48
Soumik Sarkar319728.75
Ray, A.4832184.32