Online real-time path planning for mobile robots based on wireless sensor network under unknown environment

Utilizing the advantages of wireless sensor network, sensor fusion for building occupancy grid map using probabilistic sensor model and ant colony algorithm using bionic swarm intelligence, an online real-time path planning algorithm for mobile nodes under unknown dynamic environment is proposed thr...

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Bibliographic Details
Main Authors: Xue, Han, Ma, Hong-xu
Format: Conference Proceeding
Language:English
Subjects:
Ant Colony algorithm
Intelligent sensors
Mobile robots
Motion planning
Multi-sensor Fusion
Online Real-time Path Planning
Particle swarm optimization
Path planning
Probabilistic Map Building
Robot sensing systems
Robotics and automation
Sensor fusion
Strategic planning
swarm intelligence
Wireless Sensor Network
Wireless sensor networks
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Summary:Utilizing the advantages of wireless sensor network, sensor fusion for building occupancy grid map using probabilistic sensor model and ant colony algorithm using bionic swarm intelligence, an online real-time path planning algorithm for mobile nodes under unknown dynamic environment is proposed through three level planning control strategy. A practical implementation has been carried out to demonstrate the enhanced efficiency and accuracy of the proposed algorithm.
DOI:10.1109/ROBIO.2007.4522244