A Delay-tolerant, Potential field-based, Network Implementation of an Integrated Navigation System

Abstract—Network controllers (NCs) are devices that are capable of converting dynamic, spatially extended, and functionally specialized modules into a taskable goal-oriented group called networked control system. This paper examines the practical aspects of designing and building an NC that uses the Internet as a communication medium. It focuses on finding compatible controller components that can be integrated via a host structure in a manner that makes it possible to network, in real-time, a webcam, an unmanned ground vehicle (UGV), and a remote computer server along with the necessary operator software interface. The aim is to deskill the UGV navigation process and yet maintain a robust performance. The structure of the suggested controller, its components, and the manner in which they are interfaced are described. Thorough experimental results along with performance assessment and comparisons to a previously implemented NC are provided.

• Type: Conference
• Year: 2006
• Where: IROS
• Authors: Rachana Ashok Gupta, Ahmad A. Masoud, Mo-Yuen Chow
• Keywords: Compatible Controller Components, IROS 2006, Networked Control System, Robotics, Taskable Goal-oriented Group