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Path planning for sensor data collecting mobile robot

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conference contribution
posted on 2005-01-01, 00:00 authored by Pubudu PathiranaPubudu Pathirana, Timothy Black, Saeid Nahavandi
A mobile robot employed for data collection is faced with the problem of travelling from an initial location to a final location while maintaining as close a distance as possible to all the sensors at a given time in the journey. Here we employ optimal control ideas in forming the necessary control commands for such a robot resulting not only the necessary acceleration commands for the underlying robot, but also the resulting trajectory. This approach can also be easily extended for the case of producing the optimal trajectory for an ariel vehicle used for data collection from indiscriminately scattered ad-hoc sensors located on the ground. We demonstrate the implementation of our algorithm using a Pioneer 3-AT robot.

History

Title of proceedings

Proceedings of the 2005 intelligent sensors, sensor networks and information processing conference

Event

Intelligent sensors, sensor networks and information processing conference (2nd : 2005 : Melbourne, Vic.)

Pagination

313 - 317

Publisher

IEEE

Location

Melbourne, Vic.

Place of publication

Piscataway, N.J.

Start date

2005-12-05

End date

2005-12-08

ISBN-13

9780780393998

ISBN-10

0780393996

Language

eng

Notes

This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

Publication classification

E1 Full written paper - refereed

Copyright notice

2005, IEEE

Editor/Contributor(s)

M Palaniswami

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