TY - GEN
T1 - Navigation of mobile robots in an intelligent environment with wireless visual sensors
AU - Jiang, P.
AU - Cheng, Y.
AU - Ji, Y.
AU - Feng, Z.
AU - Zhu, J.
AU - Wang, X.
AU - Tian, F.
PY - 2010
Y1 - 2010
N2 - Today, most autonomous mobile robots rely on centralized perception and processing. They are, however, facing difficulties to be reliable and efficient due to uncertainties introduced from dynamic environments. In this paper, an intelligent environment with distributed visual sensors to support navigation and control of mobile robots, wireless mosaic eyes, is reported. The distributed visual sensors relieve the required massive intelligence to its environment. A multiple Bloom-filter scheme is developed for distributed storage of global routing information into wireless sensors. An error expectation based design for a multiple Bloom-filter is proposed, which exhibits superior performance to the conventional design. Considering dynamic navigation and control of a mobile robot guided by distributed vision, an active contour based scheme is developed to deal with path planning, trajectory generation, and optimal motion control. A working system has been developed to demonstrate the idea.
AB - Today, most autonomous mobile robots rely on centralized perception and processing. They are, however, facing difficulties to be reliable and efficient due to uncertainties introduced from dynamic environments. In this paper, an intelligent environment with distributed visual sensors to support navigation and control of mobile robots, wireless mosaic eyes, is reported. The distributed visual sensors relieve the required massive intelligence to its environment. A multiple Bloom-filter scheme is developed for distributed storage of global routing information into wireless sensors. An error expectation based design for a multiple Bloom-filter is proposed, which exhibits superior performance to the conventional design. Considering dynamic navigation and control of a mobile robot guided by distributed vision, an active contour based scheme is developed to deal with path planning, trajectory generation, and optimal motion control. A working system has been developed to demonstrate the idea.
UR - https://www.scopus.com/pages/publications/77953099905
U2 - 10.1109/ICNSC.2010.5461490
DO - 10.1109/ICNSC.2010.5461490
M3 - 会议稿件
AN - SCOPUS:77953099905
SN - 9781424464531
T3 - 2010 International Conference on Networking, Sensing and Control, ICNSC 2010
SP - 307
EP - 312
BT - 2010 International Conference on Networking, Sensing and Control, ICNSC 2010
T2 - 2010 International Conference on Networking, Sensing and Control, ICNSC 2010
Y2 - 10 April 2010 through 12 April 2010
ER -