Wireless Sensor and Mobile Robot Network in Environmental Regulation using Radial Basis Function Networks

The integration of wireless sensor networks (WSNs) and mobile robot network are studied in this paper to address environmental regulation problem. Based on the sensory information acquired from stationary sensors in the designated environment and the information obtained by anisotropic sensory on the mobile robot, the Radial Basis Function (RBF) network is utilized to estimate the environmental distribution. The estimated results are subsequently applied in coverage control for mobile robots to cover the regions with higher importance. Furthermore, a regulating controller, based on Lyapunov stability theorem, is proposed for embedded actuators to simultaneously regulate the designated region to the desired distribution while the mobile robots are moving to achieve coverage mission. Numerical simulations are given to demonstrate the performance of the proposed method.