Target interception by mobile robots in a wireless sensor network (I)

• Main Author: Lin, Zhenxing.
• Other Authors: Xie Lihua
• Format: Final Year Project
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Robotics; DRNTU::Engineering::Electrical and electronic engineering::Wireless communication systems
• Online Access: http://hdl.handle.net/10356/17856
• Institution: Nanyang Technological University

Wireless Sensor Network (WSN) is found to be useful in many technological fields due to its wireless distributed computation capability. A successful attempt in building an experimental test bed for distributed target tracking has led to further improvements to the WSN, the reaction on the tracked target with the objectives to pursuit and intercept the target. To fully utilize resources, an automated mobile robots system has been proposed. Various techniques and methods have been explored, including communication protocols, robot localization and navigation, interception and obstacle avoidance. Several upgrades have been made to the mobile robot, providing it with the capability to pursue and intercept the target in a WSN. The most significant changes made to the robot are the Stargazer localization device and active infrared (IR) sensors. The Stargazer uses passive landmarks to interpolate for positions in the WSN, while IR sensors increased the sight of the robot for obstacle avoidance. Detailed descriptions of the algorithm in the system have been documented, demonstrating the two roles for the mobile robot operating under two different algorithms. The implementation results have been discussed along with the problems encountered throughout the development of the project. The solutions to resolve these problems have also been discussed together with the limitations of the project. Lastly, conclusions have been made with recommendations for further improvements in indoor and outdoor implementations.