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Harmonic potential-based Communication-Aware Navigation of mobile agents in cluttered spaces | IEEE Conference Publication | IEEE Xplore

Harmonic potential-based Communication-Aware Navigation of mobile agents in cluttered spaces


Abstract:

In this paper we propose a Communication-Aware Navigation (CAN) controller to safely guide an agent to a target position in a cluttered environment while maintaining a re...Show More

Abstract:

In this paper we propose a Communication-Aware Navigation (CAN) controller to safely guide an agent to a target position in a cluttered environment while maintaining a reliable Wireless Communication Link (WCL). The CAN controller is based on the Harmonic Potential Field (HPF) approach to motion planning. The navigator can generate a communication-aware navigation control signal that is able to safely steer an agent with non-trivial dynamics to a target point along a direct trajectory that avoids obstacles and Dead Communication Zones (DCZ). The approach is developed and basic proofs are provided. The capabilities of the method are demonstrated using simulation results.
Date of Conference: 12-14 December 2016
Date Added to IEEE Xplore: 29 December 2016
ISBN Information:
Conference Location: Las Vegas, NV, USA

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