TY - GEN
T1 - A delay-tolerant, potential field-based, network implementation of an integrated navigation system
AU - Gupta, Rachana Ashok
AU - Masoud, Ahmad A.
AU - Chow, Mo Yuen
PY - 2006
Y1 - 2006
N2 - Intelligent space (iSpace) is a large scale mechatronics system. It is a multidisciplinary effort whose aim is to produce a network structure and components that are capable of integrating sensors, actuators, DSP, communication, and control algorithms in a manner that suits time-sensitive applications including real-time navigation and/or obstacle avoidance. There are many challenges that must be overcome in order to put such a distributed, heterogeneous system together. This paper deals with one of these issues, i.e. the adverse effect of network and processing delays on the system. Here a delay-resistant sensory-motor module for navigating a differential drive unmanned ground vehicle (UGV) in a cluttered environment is suggested. The module consists of an early vision edge detection stage, a harmonic potential field (HPF) planner, a network based quadratic curve fitting controller and gain schedule middleware, (GSM). Though the different techniques used to implement the navigation system have been well-studied as independent modules, the contribution in this paper is the way all these different modules are integrated together for the first time to create an efficient structure for a network based integrated navigation system. The structure of this module and its components are described. Thorough experimental results along with performance assessment comparing the suggested structure to a previous implementation of iSpace are also provided.
AB - Intelligent space (iSpace) is a large scale mechatronics system. It is a multidisciplinary effort whose aim is to produce a network structure and components that are capable of integrating sensors, actuators, DSP, communication, and control algorithms in a manner that suits time-sensitive applications including real-time navigation and/or obstacle avoidance. There are many challenges that must be overcome in order to put such a distributed, heterogeneous system together. This paper deals with one of these issues, i.e. the adverse effect of network and processing delays on the system. Here a delay-resistant sensory-motor module for navigating a differential drive unmanned ground vehicle (UGV) in a cluttered environment is suggested. The module consists of an early vision edge detection stage, a harmonic potential field (HPF) planner, a network based quadratic curve fitting controller and gain schedule middleware, (GSM). Though the different techniques used to implement the navigation system have been well-studied as independent modules, the contribution in this paper is the way all these different modules are integrated together for the first time to create an efficient structure for a network based integrated navigation system. The structure of this module and its components are described. Thorough experimental results along with performance assessment comparing the suggested structure to a previous implementation of iSpace are also provided.
UR - http://www.scopus.com/inward/record.url?scp=34250663508&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.281822
DO - 10.1109/IROS.2006.281822
M3 - Conference contribution
AN - SCOPUS:34250663508
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 1121
EP - 1126
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
PB - Institute of Electrical and Electronics Engineers Inc.
ER -