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Distributed Roadmaps for Robot Navigation in Sensor Networks

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2 Author(s)
Zhenwang Yao ; Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada ; Kamal Gupta

This paper studies a distributed path-planning problem: How can a sensor network help navigate a nontrial robot to its desired goal in a distributed manner? We consider the case where each sensor node is equipped with sophisticated sensors capable of giving a map for its sensing region. We propose a distributed sampling-based planning algorithm, where every sensor node creates a local roadmap in its locally sensed environment; these local roadmaps are “stitched” together by passing messages among nodes and forming a larger implicit roadmap without having a global representation. Based on the implicit roadmap, a feasible path is computed in a distributed manner, and the robot moves along the path by interacting with sensor nodes, each of which giving a portion of the path within the local environment of the node. Simulations show that the algorithm is able to solve the path-planning problem with low communication overhead.

Published in:

IEEE Transactions on Robotics  (Volume:27 ,  Issue: 5 )