Abstract
Development of accessible and cheap sensors as well as the possibility to transfer and process huge amounts of data offer new possibilities for many areas utilizing till now conventional approaches. Navigation of robots and autonomous vehicles is no exception in this aspect and Internet of Things (IoT), together with the means of computational intelligence, represents a new way for construction and use of robots. In this paper, the possibility to move sensors from robots to their surroundings with the help of IoT is presented and the modification of the IoT concept in the form of intelligent space as well as the concept of ubiquitous robot are shown in the paper. On an example of route tracking, we will clarify the potential of distributed networked sensors and processing their data with the use of fuzzy cognitive maps for robotic navigation. Besides, two modifications of adaptation approaches, namely particle swarm optimization and migration algorithm, are presented here. A series of simulations was performed, which are discussed and future research directions are proposed.
Highlights
Internet of Things (IoT) has found many applications in various areas since its breakthrough to praxis about 10 years ago
The approach utilizing radio frequency identification (RFID) transponders can achieve the accuracy of several centimeters, and the approach with beacon technology can achieve the accuracy of several tens of centimeters
We showed the possibility of interconnecting the concepts IoT and Intelligent Space (IS) with the aim to construct Ubiquitous Robot (UR)
Summary
Internet of Things (IoT) has found many applications in various areas since its breakthrough to praxis about 10 years ago. IoT can provide many of the required sensors and computational capacity to robots externally, that is, the so-called outboard deployment, instead of carrying them onboard [8] Many of these devices are installed in the area for other reasons not directly related to robots, for example, cameras and fire detectors are mounted mainly for security reasons. To demonstrate the potential of such an approach, we will show UR concept usage on a simulation example of reactive navigation, where path planning and movement control are merged This approach is especially advantageous if quick responses of the robot control to a new situation are required [28].
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