The integration of robot navigation and wireless sensor networks has been explored in various ways over the last decade. Here, we read about methods for navigating a mobile wheeled robot, carrying only a simple distance sensor on board, through a net of sensors installed in the ceiling. A deployed sensor network has the advantage of reducing the complexity of the robot sensing system, and avoids the need for a localization procedure, according to the authors. Section 2 describes the robot used for the experiments as a simple holonomic robot. Section 3 is the core of the paper, focusing on two navigation algorithms. The first algorithm uses the distance measured by the robot toward the sensor nodes.
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