Harmonic potential-based Communication-Aware Navigation of mobile agents in cluttered spaces

Waqas Afzal, Ahmad A. Masoud

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

4 Scopus citations

Abstract

In this paper we propose a Communication-Aware Navigation (CAN) controller to safely guide an agent to a target position in a cluttered environment while maintaining a reliable Wireless Communication Link (WCL). The CAN controller is based on the Harmonic Potential Field (HPF) approach to motion planning. The navigator can generate a communication-aware navigation control signal that is able to safely steer an agent with non-trivial dynamics to a target point along a direct trajectory that avoids obstacles and Dead Communication Zones (DCZ). The approach is developed and basic proofs are provided. The capabilities of the method are demonstrated using simulation results.

Original languageEnglish
Title of host publication2016 IEEE 55th Conference on Decision and Control, CDC 2016
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5146-5151
Number of pages6
ISBN (Electronic)9781509018376
DOIs
StatePublished - 27 Dec 2016

Publication series

Name2016 IEEE 55th Conference on Decision and Control, CDC 2016

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

ASJC Scopus subject areas

  • Artificial Intelligence
  • Decision Sciences (miscellaneous)
  • Control and Optimization

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