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dc.contributor.authorCheng, Yongqiang*
dc.contributor.authorJiang, Ping*
dc.contributor.authorHu, Yim Fun*
dc.date.accessioned2016-10-20T12:06:58Z
dc.date.available2016-10-20T12:06:58Z
dc.date.issued2014-07
dc.identifier.citationCheng 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.en_US
dc.identifier.urihttp://hdl.handle.net/10454/9996
dc.descriptionYesen_US
dc.description.abstractThis 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.en_US
dc.description.sponsorshipRoyal Society, Natural Science Funding Council (China)en_US
dc.language.isoenen_US
dc.relation.isreferencedbyhttp://dx.doi.org/10.1017/S0263574713000805en_US
dc.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 <http://creativecommons.org/licenses/by-nc-sa/3.0/>. The written permission of Cambridge University Press must be obtained for commercial re-use.en_US
dc.subjectSnake algorithm; Wireless visual sensors; Mobile robot navigation; Distributed robot systemen_US
dc.titleA snake-based scheme for path planning and control with constraints by distributed visual sensorsen_US
dc.status.refereedYesen_US
dc.date.application2013-08-09
dc.typeArticleen_US
dc.type.versionAccepted Manuscripten_US
refterms.dateFOA2018-07-27T01:57:22Z


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