Performance evaluation of autonomous deployment of WSAN in a real environment

Gamal Sallam; Mohammad Al-Shaboti; Uthman Baroudi

doi:10.1109/SSD.2017.8166927

Performance evaluation of autonomous deployment of WSAN in a real environment

Gamal Sallam^*
, Mohammad Al-Shaboti
, Uthman Baroudi

^*Corresponding author for this work

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

1 Scopus citations

Abstract

Robots deployment is becoming so popular due to its applications in different aspects, especially in areas where human intervention is not possible or poses a high risk. Multi-robots deployment in an unknown environment is a new challenging problem that needs to be investigated to understand the behavior of robotics applications under real parameters. For instance, in industrial place robots can be sent to a building to detect a source of gas leakage or help to discover bodies under rubbles in case of damaged buildings. Virtual force has been proposed to tackle such a problem; however, most of the existing studies did not consider the physical properties of the robots and obstacles and their overall effect on the deployment purpose. In this paper, we will investigate two variants of the virtual force approach, full virtual force, and modified virtual force, taking into consideration all the physical aspects of Khepera III robot. The proportional-integral-derivative (PID) controller has been utilized to control the robot movement towards the intended target when obstacles exist. The implementation has been carried out using a high fidelity simulator called Webots.

Original language	English
Title of host publication	2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	669-674
Number of pages	6
ISBN (Electronic)	9781538631751
DOIs	https://doi.org/10.1109/SSD.2017.8166927
State	Published - 4 Dec 2017

Publication series

Name	2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017
Volume	2017-January

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

Keywords

Khepera III
PID
robots deployment
webots

ASJC Scopus subject areas

Computer Science Applications
Signal Processing
Control and Optimization
Instrumentation

Access to Document

10.1109/SSD.2017.8166927

Cite this

Sallam, G., Al-Shaboti, M., & Baroudi, U. (2017). Performance evaluation of autonomous deployment of WSAN in a real environment. In 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017 (pp. 669-674). (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017; Vol. 2017-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SSD.2017.8166927

Sallam, Gamal ; Al-Shaboti, Mohammad ; Baroudi, Uthman. / Performance evaluation of autonomous deployment of WSAN in a real environment. 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 669-674 (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017).

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Sallam, G, Al-Shaboti, M & Baroudi, U 2017, Performance evaluation of autonomous deployment of WSAN in a real environment. in 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017, vol. 2017-January, Institute of Electrical and Electronics Engineers Inc., pp. 669-674. https://doi.org/10.1109/SSD.2017.8166927

Performance evaluation of autonomous deployment of WSAN in a real environment. / Sallam, Gamal; Al-Shaboti, Mohammad; Baroudi, Uthman.
2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 669-674 (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017; Vol. 2017-January).

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

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Sallam G, Al-Shaboti M, Baroudi U. Performance evaluation of autonomous deployment of WSAN in a real environment. In 2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 669-674. (2017 14th International Multi-Conference on Systems, Signals and Devices, SSD 2017). doi: 10.1109/SSD.2017.8166927

Performance evaluation of autonomous deployment of WSAN in a real environment

Abstract

Publication series

Bibliographical note

UN SDGs

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this