Mobile robot navigation for emergency source seeking using sensor network topology maps

摘要

Source seeking in emergency environment is a vital issue, which has attracted the attention of researchers recently. In this paper, we consider a robot traveling with a constant speed and guided by sensor measurements. This control law does not depend on any gradient dependent information. The robot is navigated using an angular velocity limited by a maximum and minimum constants. The robot location is calculated using the sensor neighborhood topology coordinates, which is an alternative to the physical coordinate system. In topology coordinate system, actual physical distances are hidden. Thus, the proposed control law does not incorporate any distance information. Moreover, the performance of the proposed method is evaluated using computer simulation and presented in this paper.