Servo-level, sensor-based navigation using harmonic potential fields

Ahmad A. Masoud; Mohanad Ahmed; Ali Al-Shaikhi

doi:10.1109/ECC.2015.7330993

Servo-level, sensor-based navigation using harmonic potential fields

Ahmad A. Masoud, Mohanad Ahmed, Ali Al-Shaikhi

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

2 Scopus citations

Abstract

This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.

Original language	English
Title of host publication	2015 European Control Conference, ECC 2015
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2997-3002
Number of pages	6
ISBN (Electronic)	9783952426937
DOIs	https://doi.org/10.1109/ECC.2015.7330993
State	Published - 16 Nov 2015

Publication series

Name	2015 European Control Conference, ECC 2015

Bibliographical note

Publisher Copyright:
© 2015 EUCA.

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.1109/ECC.2015.7330993

Cite this

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title = "Servo-level, sensor-based navigation using harmonic potential fields",

abstract = "This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.",

author = "Masoud, \{Ahmad A.\} and Mohanad Ahmed and Ali Al-Shaikhi",

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year = "2015",

month = nov,

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doi = "10.1109/ECC.2015.7330993",

language = "English",

series = "2015 European Control Conference, ECC 2015",

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Servo-level, sensor-based navigation using harmonic potential fields. / Masoud, Ahmad A.; Ahmed, Mohanad; Al-Shaikhi, Ali.
2015 European Control Conference, ECC 2015. Institute of Electrical and Electronics Engineers Inc., 2015. p. 2997-3002 7330993 (2015 European Control Conference, ECC 2015).

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

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AU - Ahmed, Mohanad

AU - Al-Shaikhi, Ali

PY - 2015/11/16

Y1 - 2015/11/16

N2 - This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.

AB - This paper suggests an integrated navigation control system for time critical missions. The navigation control is derived from a harmonic potential field. It is designed to enable a mobile agent to proceed to a target point in an unknown environment without the need for a dedicated exploration and map-building stage. The agent, en route to the target, collects and processes only the necessary and sufficient sensory data needed to successfully execute the mission. Sensing, processing and all related activities needed to generate mobility are carried-out in real-time at the servo-level. The structure of the navigation control is described in details. Experimental results are provided as a proof of principle.

UR - https://www.scopus.com/pages/publications/84963823021

U2 - 10.1109/ECC.2015.7330993

DO - 10.1109/ECC.2015.7330993

M3 - Conference contribution

AN - SCOPUS:84963823021

T3 - 2015 European Control Conference, ECC 2015

SP - 2997

EP - 3002

BT - 2015 European Control Conference, ECC 2015

PB - Institute of Electrical and Electronics Engineers Inc.

ER -

Servo-level, sensor-based navigation using harmonic potential fields

Abstract

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Bibliographical note

ASJC Scopus subject areas

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