Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Receding horizon control of mobile robots for locating unknown wireless sensor networks

Receding horizon control of mobile robots for locating unknown wireless sensor networks The purpose of this paper is to propose a receding horizon control approach for the problem of locating unknown wireless sensor networks by using a mobile robot.Design/methodology/approachA control framework is used and consists of two levels: one is a decision level, while the other is a control level. In the decision level, a spatiotemporal probability occupancy grid method is used to give the possible positions of all nodes in sensor networks, where the posterior probability distributions of sensor nodes are estimated by capturing the transient signals. In the control level, a virtual robot is designed to move along the edge of obstacles such that the problem of obstacle avoidance can be transformed into a coordination problem of multiple robots. On the basis of the possible positions of sensor nodes and virtual robots, a receding horizon control approach is proposed to control mobile robots to locate sensor nodes, where a temporary target position method is utilized to avoid several special obstacles.FindingsWhen the number of obstacles increases, the average localization errors between the actual locations and the estimated locations significantly increase.Originality/valueThe proposed control approach can guide the mobile robot to avoid obstacles and deal with the corresponding dynamical events so as to locate all sensor nodes for an unknown wireless network. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Assembly Automation Emerald Publishing

Receding horizon control of mobile robots for locating unknown wireless sensor networks

Download PDF
15 pages

Loading next page...
 
/lp/emerald-publishing/receding-horizon-control-of-mobile-robots-for-locating-unknown-N5ofV9nsUd

References (39)

Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0144-5154
DOI
10.1108/aa-12-2017-198
Publisher site
See Article on Publisher Site

Abstract

The purpose of this paper is to propose a receding horizon control approach for the problem of locating unknown wireless sensor networks by using a mobile robot.Design/methodology/approachA control framework is used and consists of two levels: one is a decision level, while the other is a control level. In the decision level, a spatiotemporal probability occupancy grid method is used to give the possible positions of all nodes in sensor networks, where the posterior probability distributions of sensor nodes are estimated by capturing the transient signals. In the control level, a virtual robot is designed to move along the edge of obstacles such that the problem of obstacle avoidance can be transformed into a coordination problem of multiple robots. On the basis of the possible positions of sensor nodes and virtual robots, a receding horizon control approach is proposed to control mobile robots to locate sensor nodes, where a temporary target position method is utilized to avoid several special obstacles.FindingsWhen the number of obstacles increases, the average localization errors between the actual locations and the estimated locations significantly increase.Originality/valueThe proposed control approach can guide the mobile robot to avoid obstacles and deal with the corresponding dynamical events so as to locate all sensor nodes for an unknown wireless network.

Journal

Assembly Automation – Emerald Publishing

Published: Aug 14, 2019

Keywords: Mobile robots; Wireless sensor networks; Obstacle avoidance; Receding horizon control

There are no references for this article.