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

Waqas Afzal; Ahmad A. Masoud

doi:10.1109/CDC.2016.7799056

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

Waqas Afzal, Ahmad A. Masoud

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-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 language	English
Title of host publication	2016 IEEE 55th Conference on Decision and Control, CDC 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5146-5151
Number of pages	6
ISBN (Electronic)	9781509018376
DOIs	https://doi.org/10.1109/CDC.2016.7799056
State	Published - 27 Dec 2016

Publication series

Name	2016 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

Access to Document

10.1109/CDC.2016.7799056

Cite this

Afzal, W., & Masoud, A. A. (2016). Harmonic potential-based Communication-Aware Navigation of mobile agents in cluttered spaces. In 2016 IEEE 55th Conference on Decision and Control, CDC 2016 (pp. 5146-5151). Article 7799056 (2016 IEEE 55th Conference on Decision and Control, CDC 2016). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2016.7799056

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Harmonic potential-based Communication-Aware Navigation of mobile agents in cluttered spaces. / Afzal, Waqas; Masoud, Ahmad A.
2016 IEEE 55th Conference on Decision and Control, CDC 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 5146-5151 7799056 (2016 IEEE 55th Conference on Decision and Control, CDC 2016).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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

Abstract

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Bibliographical note

ASJC Scopus subject areas

Access to Document

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Cite this