Distributed algorithms for guiding navigation across a sensor network
Proceedings of the 9th annual international conference on Mobile computing and networking
Robot and Sensor Networks for First Responders
IEEE Pervasive Computing
Research on Mobile Robot's Motion Control and Path Planning
ISNN 2009 Proceedings of the 6th International Symposium on Neural Networks: Advances in Neural Networks - Part III
Fast replanning for navigation in unknown terrain
IEEE Transactions on Robotics
IEEE Transactions on Robotics
A service-centric model for wireless sensor networks
IEEE Journal on Selected Areas in Communications
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A practical system is proposed to solve the navigation problem for indoor mobile robot based on wireless sensor network (WSN). The discrete data acquired by WSN is processed to form a three-dimen- sional global topographic map, which is then converted into a 0-1 grid map through binarization. The grids where obstacles locate are expanded according to specific criteria to construct the robot route network. Then, the route-network-grid map is converted to directional weighted graph, with which the D*Lite algorithm can be used to solve the problem of shortest path between two fixed nodes and acquire the optimal node set to construct the optimal path. Simulation result shows that the indoor environment can be well expressed by the proposed modeling method, from which we can accomplish the navigation to lead the mobile robot arrive to destination with the shortest distance in a dynamic environment.