Localization and navigation assisted by networked cooperating sensors and robots

被引：46

作者：

Corke, P ^{[1
]}

Peterson, R

Rus, D

机构：

[1] CSIRO ICT Ctr, Brisbane, Qld, Australia

[2] MIT, Comp Sci & Artificial Intelligence Lab, Cambridge, MA 02139 USA

[3] Dartmouth Coll, Dartmouth Comp Sci Dept, Hanover, NH 03755 USA

[4] Dartmouth Coll, Inst Secur Technol Studies, Hanover, NH 03755 USA

来源：

INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH | 2005年 / 24卷 / 09期

关键词：

distributed robots; networked robots; localization; navigation; sensor nets;

D O I：

10.1177/0278364905057118

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

In this paper we discuss how a network of sensors and robots can cooperate to solve important robotics problems such as localization and navigation. We use a robot to localize sensor nodes, and we then use these localized nodes to navigate robots and humans through the sensorized space. We explore these novel ideas with results from two large-scale sensor network and robot experiments involving 50 motes, two types of flying robot: an autonomous helicopter and a large indoor cable array robot, and a human-network interface. We present the distributed algorithms for localization, geographic routing, path definition and incremental navigation. We also describe how a human can be guided using a simple hand-held device that interfaces to this same environmental infrastructure.

引用

页码：771 / 786

页数：16

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