Experimental validation of cooperative environmental boundary tracking with on-board sensors

Author

Joshi, Abhijeet ; Ashley, Trevor ; Huang, Yuan R. ; Bertozzi, Andrea L.

Author_Institution

Dept. of Electr. Eng., Univ. of California Los Angeles, Los Angeles, CA, USA

fYear

2009

fDate

10-12 June 2009

Firstpage

2630

Lastpage

2635

Abstract

This paper describes a cooperative testbed implementation of a new algorithm (Jin and Bertozzi, CDC 2007) for environmental boundary tracking and estimation using only localized noisy sensors. The tracking algorithm is based on Page´s cumulative sum algorithm (CUSUM) a method for change-point detection. A geometric, biologically inspired, motion control algorithm allows individual vehicles to track and follow the environmental boundary without external positioning information. Relative positioning between vehicles allows several to maintain a convoy while tracking the boundary. The algorithm performs well in the presence of moderate sensor noise.

Keywords

mobile robots; motion control; position control; sensors; change-point detection; cooperative autonomous vehicles; cooperative environmental boundary tracking; cumulative sum algorithm; localized noisy sensors; motion control algorithm; onboard sensors; Change detection algorithms; Fires; Remotely operated vehicles; Robot kinematics; Robot sensing systems; Sea measurements; Sensor phenomena and characterization; Testing; Tracking; Working environment noise;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 2009. ACC '09.

Conference_Location

St. Louis, MO

ISSN

0743-1619

Print_ISBN

978-1-4244-4523-3

Electronic_ISBN

0743-1619

Type

conf

DOI

10.1109/ACC.2009.5159837

Filename

5159837