Automated navigation and mobile vehicle control using wireless sensor network technology

This paper introduces a novel concept for automated navigation and control of a mobile platform. It utilizes an ad-hoc mobile wireless sensor network to provide navigational information to the mobile platform embedded control system. The embedded controller is realized with an ARM9 SOC based single board computer, with real time, multi-thread software implementation using a real time Linux operating system framwork. We have repeatedly tested the automated navigation and control concept on a wheel based mobile platform in an indoor environment, and found the performance meeting our original design goals.