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Published on: October 14, 2017
Mobile robotic sensors for perimeter detection and tracking.
1The MARHES Laboratory, School of Electrical and Computer Engineering, Oklahoma State University, Stillwater, OK 74078, USA. justin.clark@okstate.edu
ISA Transactions
|February 6, 2007
Summary
This study introduces a cooperative mobile robot network for environmental sensing. The system effectively detects and tracks perimeters using reactive motion control and decentralized coordination, adaptable to changing network sizes.
Area of Science:
- Robotics
- Sensor Networks
- Environmental Science
Background:
- Mobile robot/sensor networks are increasingly used for diverse applications including environmental monitoring and search and rescue.
- These networks comprise numerous sensors with integrated processors, wireless communication, and mobility.
- Effective coordination is crucial for complex tasks like perimeter detection.
Purpose of the Study:
- To present a cooperative mobile robot network for detecting and tracking environmental perimeters.
- To introduce a library of reactive motion control algorithms for mobile sensors.
- To develop a decentralized coordination mechanism for perimeter-sensing missions.
Main Methods:
- Development of simple reactive motion control algorithms for individual robots.
- Implementation of a decentralized coordination mechanism for network-wide tasks.
- Validation through extensive simulations and experimental testing.
Main Results:
- The proposed cooperative control scheme enables effective perimeter detection and tracking.
- The decentralized approach allows for scalability and dynamic reconfiguration of the sensor network.
- Simulations and experiments confirm the robustness and validity of the system.
Conclusions:
- The cooperative mobile robot network is a viable solution for environmental perimeter detection.
- Decentralized control enhances the adaptability and scalability of sensor networks.
- The developed algorithms and coordination mechanism are effective for perimeter-sensing missions.
