To read the full version of this content please select one of the options below:

Receding horizon control of mobile robots for locating unknown wireless sensor networks

Dilong Chen (School of Automation, Hangzhou Dianzi University, Hangzhou, China)
Qiang Lu (School of Automation, Hangzhou Dianzi University, Hangzhou, China)
Dongliang Peng (School of Automation, Hangzhou Dianzi University, Hangzhou, China)
Ke Yin (College of Electrical Engineering, Zhejiang University, Hangzhou, China and School of Automation, Hangzhou Dianzi University, Hangzhou, China)
Chaoliang Zhong (School of Automation, Hangzhou Dianzi University, Hangzhou, China)
Ting Shi (School of Automation, Hangzhou Dianzi University, Hangzhou, China)

Assembly Automation

ISSN: 0144-5154

Article publication date: 16 October 2018

Issue publication date: 14 August 2019

Abstract

Purpose

The purpose of this paper is to propose a receding horizon control approach for the problem of locating unknown wireless sensor networks by using a mobile robot.

Design/methodology/approach

A control framework is used and consists of two levels: one is a decision level, while the other is a control level. In the decision level, a spatiotemporal probability occupancy grid method is used to give the possible positions of all nodes in sensor networks, where the posterior probability distributions of sensor nodes are estimated by capturing the transient signals. In the control level, a virtual robot is designed to move along the edge of obstacles such that the problem of obstacle avoidance can be transformed into a coordination problem of multiple robots. On the basis of the possible positions of sensor nodes and virtual robots, a receding horizon control approach is proposed to control mobile robots to locate sensor nodes, where a temporary target position method is utilized to avoid several special obstacles.

Findings

When the number of obstacles increases, the average localization errors between the actual locations and the estimated locations significantly increase.

Originality/value

The proposed control approach can guide the mobile robot to avoid obstacles and deal with the corresponding dynamical events so as to locate all sensor nodes for an unknown wireless network.

Keywords

Acknowledgements

This work was supported in part by the Zhejiang Provincial Natural Science Foundation of China under Grants LY18F030008, LY17F030022, and LY16F030008, and the National Natural Science Foundation of China under Grant 61375104.

Citation

Chen, D., Lu, Q., Peng, D., Yin, K., Zhong, C. and Shi, T. (2019), "Receding horizon control of mobile robots for locating unknown wireless sensor networks", Assembly Automation, Vol. 39 No. 3, pp. 445-459. https://doi.org/10.1108/AA-12-2017-198

Publisher

:

Emerald Publishing Limited

Copyright © 2018, Emerald Publishing Limited