Robot Navigation in a 3D World Mediated by Sensor Networks

D. V. Karthikeya Viswanath*    K. Madhava Krishna*    Henry Hexmoor+    Sartaj Singh**   

IIIT Hyderabad, India    Computer Science Dept, Southern Illinois University, Carbondale, IL, 62901, USA    Center for Artificial Intelligence and Robotics, Bangalore, India   

A methodology for real-time navigation of an all terrain vehicle capable of navigation between floors of a building mediated by a wireless sensor network is detailed in this paper. The map of the building is unknown to the robot. Sensor motes scattered in the building guide the robot to its desired destination. The guidance is in the form of specifying the next waypoint to the goal by the network. Local navigation between waypoints is achieved by a fuzzy logic based navigation system.