A Command Filtering Framework to Collision Avoidance for Mobile Sensory Robots

Inside a wireless sensor network comprising both static sensors and mobile robots, as human commands are issued within the control loop, particular improper actions may cause accidents and result in disasters. For such systems, this paper has proposed a command filtering framework to accept or reject the human-issued commands so that undesirable executions are never performed. In the present approach, Petri nets (PN) are used to model the operated behaviors and to synthesize the command filters for supervision. An application to a mobile wireless surveillance system is provided to show the practicability of the developed approach. It is believed that the technique presented in this paper could be further applied to large-scale wireless mobile sensor networks.