Design and implementation of a navigation system for autonomous mobile robots

In this paper, a navigation system for autonomous mobile robots is proposed. Our navigation system is a hybrid of behaviour-based and model-based navigation systems. In our system, a behaviour-based subsystem is in charge of low-level reactive actions, and a model-based subsystem is responsible for high-level planned actions. If there are obstacles in the way, the navigation system will use our obstacle avoidance algorithm to navigate around these obstacles and keep the robot moving towards the destination. On the basis of our experimental results, our navigation system can navigate the robot to the destination effectively.

[1]  Andreas Willig,et al.  Protocols and Architectures for Wireless Sensor Networks , 2005 .

[2]  Chih-Shun Hsu,et al.  A distributed location estimating algorithm for wireless sensor networks , 2006, IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing (SUTC'06).

[3]  Mihir Bellare,et al.  The Security of the Cipher Block Chaining Message Authentication Code , 2000, J. Comput. Syst. Sci..

[4]  David E. Culler,et al.  SPINS: security protocols for sensor networks , 2001, MobiCom '01.

[5]  Ivan Stojmenovic,et al.  Data-Centric Protocols for Wireless Sensor Networks , 2005, Handbook of Sensor Networks.

[6]  David Gay,et al.  Software design patterns for TinyOS , 2005, LCTES '05.

[7]  James M. Keller,et al.  Acquiring and maintaining abstract landmark chunks for cognitive robot navigation , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[8]  Chih-Shun Hsu,et al.  A Distributed Localization Scheme for Wireless Sensor Networks with Improved Grid-Scan and Vector-Based Refinement , 2008, IEEE Transactions on Mobile Computing.

[9]  Thomas M. Cover,et al.  Elements of Information Theory , 2005 .

[10]  Yuanyuan Yang,et al.  Adaptive Triangular Deployment Algorithm for Unattended Mobile Sensor Networks , 2005, IEEE Transactions on Computers.

[11]  Genshe Chen,et al.  A decentralized approach to pursuer-evader games with multiple superior evaders , 2006, 2006 IEEE Intelligent Transportation Systems Conference.

[12]  Hugh F. Durrant-Whyte,et al.  A solution to the simultaneous localization and map building (SLAM) problem , 2001, IEEE Trans. Robotics Autom..

[13]  Ian F. Akyildiz,et al.  A survey on wireless mesh networks , 2005, IEEE Communications Magazine.

[14]  T. Kanade,et al.  Monte Carlo road safety reasoning , 2005, IEEE Proceedings. Intelligent Vehicles Symposium, 2005..

[15]  Mahmoud Tarokh,et al.  Vision Based Person Tracking and Following in Unstructured Environments , 2008 .

[16]  Rick Grush,et al.  The emulation theory of representation: Motor control, imagery, and perception , 2004, Behavioral and Brain Sciences.

[17]  Demetri Terzopoulos,et al.  The Cognitive Controller: A Hybrid, Deliberative/Reactive Control Architecture for Autonomous Robots , 2004, IEA/AIE.

[18]  Xiaoyan Hong,et al.  ANODR: anonymous on demand routing with untraceable routes for mobile ad-hoc networks , 2003, MobiHoc '03.

[19]  Paolo Pirjanian,et al.  ERSP: a software platform and architecture for the service robotics industry , 2005, 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[20]  Azzedine Boukerche,et al.  SDAR: a secure distributed anonymous routing protocol for wireless and mobile ad hoc networks , 2004, 29th Annual IEEE International Conference on Local Computer Networks.

[21]  Gaurav S. Sukhatme,et al.  Mobile robot navigation using a sensor network , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[22]  Bart Preneel,et al.  Towards Measuring Anonymity , 2002, Privacy Enhancing Technologies.

[23]  Se-Young Oh,et al.  Hybrid Control for Autonomous Mobile Robot Navigation Using Neural Network Based Behavior Modules and Environment Classification , 2003, Auton. Robots.

[24]  오세영.  Hybrid Control for Autonomous Mobile Robot Navigation Using Neural Network Based Behavior Modules and Environment Classification , 2001 .

[25]  W. Burgard,et al.  Markov Localization for Mobile Robots in Dynamic Environments , 1999, J. Artif. Intell. Res..

[26]  Jiming Chen,et al.  A Communication Paradigm for Wireless Sensor/Actuator Networks , 2007, 2007 International Conference on Sensor Technologies and Applications (SENSORCOMM 2007).

[27]  Mohammad Ali Salahuddin,et al.  A Localization System using Wireless Network Sensors : A Comparison of Two Techniques , 2004 .

[28]  Adrian Perrig,et al.  PIKE: peer intermediaries for key establishment in sensor networks , 2005, Proceedings IEEE 24th Annual Joint Conference of the IEEE Computer and Communications Societies..

[29]  Sencun Zhu,et al.  SDAP: a secure hop-by-Hop data aggregation protocol for sensor networks , 2006, MobiHoc '06.

[30]  Jared Jackson.  Microsoft robotics studio: A technical introduction , 2007, IEEE Robotics & Automation Magazine.

[31]  Ronggong Song,et al.  AnonDSR: efficient anonymous dynamic source routing for mobile ad-hoc networks , 2005, SASN '05.

[32]  Yu-Chee Tseng,et al.  The Broadcast Storm Problem in a Mobile Ad Hoc Network , 1999, Wirel. Networks.

[33]  Yunghsiang Sam Han,et al.  A pairwise key pre-distribution scheme for wireless sensor networks , 2003, CCS '03.

[34]  Charles E. Perkins,et al.  Ad-hoc on-demand distance vector routing , 1999, Proceedings WMCSA'99. Second IEEE Workshop on Mobile Computing Systems and Applications.

[35]  Jean-François Raymond,et al.  Traffic Analysis: Protocols, Attacks, Design Issues, and Open Problems , 2000, Workshop on Design Issues in Anonymity and Unobservability.

[36]  Matthias Scheutz,et al.  Development environments for autonomous mobile robots: A survey , 2007, Auton. Robots.

[37]  Daniel Sanchez-Crespo Dalmau,et al.  Core Techniques and Algorithms in Game Programming , 2003 .

[38]  Stergios I. Roumeliotis,et al.  Bayesian estimation and Kalman filtering: a unified framework for mobile robot localization , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[39]  Virgil D. Gligor,et al.  A key-management scheme for distributed sensor networks , 2002, CCS '02.

[40]  Jonathan Simpson,et al.  Mobile Robot Control - The Subsumption Architecture and occam-pi , 2006, CPA.

[41]  Y. Go,et al.  Navigability of multi-legged robots , 2006, IEEE/ASME Transactions on Mechatronics.

[42]  Po-Wen Cheng,et al.  Design and Implementation of Mobile Robot for Nodes Replacement in Wireless Sensor Networks , 2008, J. Inf. Sci. Eng..

[43]  Stefano Basagni,et al.  Secure pebblenets , 2001, MobiHoc '01.

[44]  Radu Marculescu,et al.  Real-Time Anonymous Routing for Mobile Ad Hoc Networks , 2007, 2007 IEEE Wireless Communications and Networking Conference.

[45]  Mohan S. Kankanhalli,et al.  Anonymous secure routing in mobile ad-hoc networks , 2004, 29th Annual IEEE International Conference on Local Computer Networks.