BRADFORD SCHOLARS

    • Sign in
    View Item 
    •   Bradford Scholars
    • Engineering and Informatics
    • Engineering and Informatics Publications
    • View Item
    •   Bradford Scholars
    • Engineering and Informatics
    • Engineering and Informatics Publications
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of Bradford ScholarsCommunitiesAuthorsTitlesSubjectsPublication DateThis CollectionAuthorsTitlesSubjectsPublication Date

    My Account

    Sign in

    HELP

    Bradford Scholars FAQsCopyright Fact SheetPolicies Fact SheetDeposit Terms and ConditionsDigital Preservation Policy

    Statistics

    Most Popular ItemsStatistics by CountryMost Popular Authors

    A snake-based scheme for path planning and control with constraints by distributed visual sensors

    • CSV
    • RefMan
    • EndNote
    • BibTex
    • RefWorks
    Thumbnail
    View/Open
    Hu_Robotica.pdf (939.9Kb)
    Download
    Publication date
    2014-07
    Author
    Cheng, Yongqiang
    Jiang, Ping
    Hu, Yim Fun
    Keyword
    Snake algorithm; Wireless visual sensors; Mobile robot navigation; Distributed robot system
    Rights
    © Cambridge University Press 2013. The online version of this article is published within an Open Access environment subject to the conditions of the Creative Commons Attribution-NonCommercial-ShareAlike licence . The written permission of Cambridge University Press must be obtained for commercial re-use.
    Peer-Reviewed
    Yes
    
    Metadata
    Show full item record
    Abstract
    This paper proposes a robot navigation scheme using wireless visual sensors deployed in an environment. Different from the conventional autonomous robot approaches, the scheme intends to relieve massive on-board information processing required by a robot to its environment so that a robot or a vehicle with less intelligence can exhibit sophisticated mobility. A three-state snake mechanism is developed for coordinating a series of sensors to form a reference path. Wireless visual sensors communicate internal forces with each other along the reference snake for dynamic adjustment, react to repulsive forces from obstacles, and activate a state change in the snake body from a flexible state to a rigid or even to a broken state due to kinematic or environmental constraints. A control snake is further proposed as a tracker of the reference path, taking into account the robot’s non-holonomic constraint and limited steering power. A predictive control algorithm is developed to have an optimal velocity profile under robot dynamic constraints for the snake tracking. They together form a unified solution for robot navigation by distributed sensors to deal with the kinematic and dynamic constraints of a robot and to react to dynamic changes in advance. Simulations and experiments demonstrate the capability of a wireless sensor network to carry out low-level control activities for a vehicle.
    URI
    http://hdl.handle.net/10454/9996
    Version
    Accepted Manuscript
    Citation
    Cheng Y, Jiang P and Hu YF (2014) A snake-based scheme for path planning and control with constraints by distributed visual sensors. Robotica. 32(4): 477-499.
    Link to publisher’s version
    http://dx.doi.org/10.1017/S0263574713000805
    Type
    Article
    Collections
    Engineering and Informatics Publications

    entitlement

     
    DSpace software (copyright © 2002 - 2023)  DuraSpace
    Quick Guide | Contact Us
    Open Repository is a service operated by 
    Atmire NV
     

    Export search results

    The export option will allow you to export the current search results of the entered query to a file. Different formats are available for download. To export the items, click on the button corresponding with the preferred download format.

    By default, clicking on the export buttons will result in a download of the allowed maximum amount of items.

    To select a subset of the search results, click "Selective Export" button and make a selection of the items you want to export. The amount of items that can be exported at once is similarly restricted as the full export.

    After making a selection, click one of the export format buttons. The amount of items that will be exported is indicated in the bubble next to export format.