2010 journal article

A Delay-Tolerant Potential-Field-Based Network Implementation of an Integrated Navigation System

IEEE Transactions on Industrial Electronics, 57(2), 769–783.

co-author countries: Saudi Arabia 🇸🇦 United States of America 🇺🇸
author keywords: Harmonic potential field (HPF); intelligent space (iSpace); network-based integrated navigation system
Source: ORCID
Added: July 1, 2022

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.