Mobile robot navigation using wireless sensor networks without localization procedure

Woo Yong Lee, Kyeong Hur, Kwang Il Hwang, Doo-Seop Eom, Jong-Ok Kim

Research output: Contribution to journalArticle

7 Citations (Scopus)

Abstract

In this paper, algorithms for navigating a mobile robot through wireless sensor networks are presented. The mobile robot can navigate without the need for a map, compass, or GPS module while interacting with neighboring sensor nodes. Two navigation algorithms are proposed in this paper: the first uses the distance between the mobile robot and each sensor node and the second uses the metric calculated from one-hop neighbors' hop-counts. Periodically measuring the distance or metric, the mobile robot can move toward a point where these values become smaller and finally come to reach the destination. These algorithms do not attempt to localize the mobile robot for navigation, therefore our approach permits cost-effective robot navigation while overcoming the limitations of traditional navigation algorithms. Through a number of experiments and simulations, the performance of the two proposed algorithms is evaluated.

Original languageEnglish
Pages (from-to)257-275
Number of pages19
JournalWireless Personal Communications
Volume62
Issue number2
DOIs
Publication statusPublished - 2012 Jan 1

Fingerprint

Mobile robots
Wireless sensor networks
Navigation
Sensor nodes
Global positioning system
Robots
Costs
Experiments

Keywords

  • Localization
  • Mobile robot
  • Navigation
  • Wireless sensor networks

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Computer Science Applications

Cite this

Mobile robot navigation using wireless sensor networks without localization procedure. / Lee, Woo Yong; Hur, Kyeong; Hwang, Kwang Il; Eom, Doo-Seop; Kim, Jong-Ok.

In: Wireless Personal Communications, Vol. 62, No. 2, 01.01.2012, p. 257-275.

Research output: Contribution to journalArticle

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