Technical Report Number
Autonomous mobile entity navigation through dynamic and unknown environments is an essential part of many mission critical applications like search and rescue and ﬁre ﬁghting. The dynamism of the environment necessitates the mobile entity to constantly maintain a high degree of awareness of the changing environment. This criteria makes it diﬃcult to achieve good navigation performance by using just on-board sensors and existing navigation methods and motivates the use of wireless sensor networks (WSNs) to aid navigation. In this paper, we present a novel approach that integrates a roadmap based navigation algorithm with a novel network query protocol called Roadmap Query (RQ). RQ enables collection of frequent, up-to-date information about the surrounding environment, thus allowing the mo-bile entity to make good navigation decisions. Simulation results under realistic ﬁre scenarios show that RQ outperforms existing approaches with respect to both navigation performance and communication cost in highly dynamic environments. To validate our protocol further, we present a mobile agent based implementation of RQ along with preliminary experimental results, on Mica2 motes.
Bhattacharya, Sangeeta; Atay, Nuzhet; Alankus, Gazihan; Lu, Chenyang; Bayazit, O. Burchan; and Roman, Gruia-Catalin, "Roadmap Query for Sensor Network Assisted Navigation in Dynamic Environments" Report Number: WUCSE-2005-41 (2005). All Computer Science and Engineering Research.