Communication-assisted Localization and Navigation for Networked Robots
Abstract
This paper introduces the application of a sensor network to navigate a flying robot. We have developed distributed algorithms and efficient geographic routing techniques to incrementally guide one or more robots to points of interest based on sensor gradient fields, or along paths defined in terms of Cartesian coordinates. These include a distributed robot-assisted localization algorithm, a distributed communication-assisted path computation algorithm for the robot and a distributed communication-assisted navigation algorithm to guide the robot. The robot itself is an integral part of the localization process which establishes the positions of sensors which are not known a priori. The sensor network is an integral part of the computation and storage of the robot's path. We use this system in a large-scale outdoor experiment with Mote sensors to guide an autonomous helicopter along a path encoded in the network. We also describe how a human can be guided using a simple handheld device that interfaces to this same environmental infrastructure,
Document Details
- Document Type
- Technical Report
- Publication Date
- Sep 01, 2005
- Accession Number
- AD1014976
Entities
People
- Daniela L. Rus
- Peter Corke
- Ron Peterson
Organizations
- Dartmouth College