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- W2154171907 abstract "Network based integrated navigation systems are a multidisciplinary effort whose aim is to produce a network structure and components that are capable of integrating sensors, actuators, communication, and control algorithms in a manner to suit real-time navigation and/or obstacle avoidance. There are many challenges to be overcome in order to put such a distributed and heterogeneous system together. This paper deals with some of these issues, i.e. the adverse effect of processing delays on the system and efficient integration of different modules. This paper describes a delay-resistant sensory-motor module for navigating a differential drive unmanned ground vehicle (UGV) in an indoor cluttered environment. The module consists of an early vision edge detection stage, a harmonic potential field (HPF) planner; a network based quadratic curve fitting controller and gain schedule middleware, (GSM). Though the different techniques and algorithms used to implement the navigation system have been previously well-studied algorithms, the novel contribution in this paper is the way all these different modules are integrated together for the first time to create an efficient structure for a network based integrated navigation system making it easy to implement and realize for many different applications. The structure of this module and its components are described. Thorough experimental results along with performance assessment comparing to the previous implementation are also provided to illustrate the effectiveness of the new integrated navigation structure" @default.
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- W2154171907 date "2006-01-01" @default.
- W2154171907 modified "2023-09-27" @default.
- W2154171907 title "A Network based, Delay-tolerant, Integrated Navigation System for a differential drive UGV using Harmonic Potential Field" @default.
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- W2154171907 doi "https://doi.org/10.1109/cdc.2006.377203" @default.
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