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A snake-based scheme for path planning and control with constraints by distributed visual sensors

Published online by Cambridge University Press:  09 August 2013

Y. Cheng,
P. Jiang and
Y. F. Hu
Y. Cheng*
Affiliation:
School of Engineering, Design and Technology, University of Bradford, Bradford BD7 1DP, UK
P. Jiang
Affiliation:
Department of Computer Science, University of Hull, Hull HU6 7RX, UK
Y. F. Hu
Affiliation:
School of Engineering, Design and Technology, University of Bradford, Bradford BD7 1DP, UK
*
*Corresponding author. E-mail: y.cheng4@bradford.ac.uk
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This 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.

Keywords

Snake algorithmWireless visual sensorsMobile robot navigationDistributed robot system

Information

Type
Articles
Information
Robotica , Volume 32 , Issue 4 , July 2014, pp. 477 - 499
Creative Commons
Creative Common License - CCCreative Common License - BYCreative Common License - NCCreative Common License - SA
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.
Copyright
Copyright © Cambridge University Press 2013

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