A Prototype Target Tracking Network System for Robot Feedback Control

Abstract:

In this paper, a real-time location feedback control system based on multi-sensor network is proposed for the precise control of a moving robot. The target tracking network system is a real test-bed that consists of a group of ultrasonic sensor nodes, a mobile robot and two laptops. In order to pursue excellent tracking performance and modify the robot’s trajectory promptly, Extended Kalman Filtering algorithm as well as a kind of scheduling scheme based on location is applied in the system. The experiment result validates the correctness of the Extended Kalman Filter (EKF) and shows that the target tracking network system is effective for robot feedback control.

• Periodical: Applied Mechanics and Materials (Volumes 157-158)
• Pages: 1431-1435
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.157-158.1431
• Online since: February 2012
• Authors: Ling Zhao, Jing Zhi Ye, Wen Feng Luo
• Keywords: Extended Kalman Flter (EKF), Robot Feedback Control, Scheduling Scheme, Target Tracking, Wireless Sensor Network (WSN)

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