A Delay-Tolerant Potential-Field-Based Network Implementation of an Integrated Navigation System
- 17 July 2009
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Industrial Electronics
- Vol. 57 (2), 769-783
- https://doi.org/10.1109/tie.2009.2026764
Abstract
Network controllers (NCs) are devices that are capable of converting dynamic, spatially extended, and functionally specialized modules into a taskable goal-oriented group called networked control system. This paper examines the practical aspects of designing and building an NC that uses the Internet as a communication medium. It focuses on finding compatible controller components that can be integrated via a host structure in a manner that makes it possible to network, in real-time, a webcam, an unmanned ground vehicle (UGV), and a remote computer server along with the necessary operator software interface. The aim is to deskill the UGV navigation process and yet maintain a robust performance. The structure of the suggested controller, its components, and the manner in which they are interfaced are described. Thorough experimental results along with performance assessment and comparisons to a previously implemented NC are provided.Keywords
This publication has 39 references indexed in Scilit:
- NCS-Controllers for Ambient Intelligence Networks - Control Performance versus Control EffortPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Perception-based navigation through weak chaos controlPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- The software architecture of the Berkeley UAV PlatformPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2006
- Vision-based fast and reactive Monte-Carlo localizationPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- A multi-robot approach to stealthy navigation in the presence of an observerPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Vision for mobile robot navigation: a surveyIEEE Transactions on Pattern Analysis and Machine Intelligence, 2002
- Steering kinematics for a center-articulated mobile robotIEEE Transactions on Robotics and Automation, 2001
- Harmonic Functions and Collision ProbabilitiesThe International Journal of Robotics Research, 1997
- A fuzzy logic based extension to Payton and Rosenblatt's command fusion method for mobile robot navigationIEEE Transactions on Systems, Man, and Cybernetics, 1995
- Hidden Markov model for dynamic obstacle avoidance of mobile robot navigationIEEE Transactions on Robotics and Automation, 1991