Sensor-network-based navigation of a mobile robot for extremum seeking using a topology map

A navigation algorithm for source seeking in a sensor network environment is presented in this paper. The solution consists of a gradient-free approach and maximum likelihood topology maps of sensor networks. The robot is navigated using an angular velocity limited by maximum and minimum constants, and by sensor measurements gathered by sensors that are close to robot's current location. The location of the robot is calculated using sensor topology coordinates, which is an alternative to the physical coordinate system and does not depend on physical distance measurement techniques such as received signal strength. However, actual physical distances are hidden in topology maps due to nonlinear distortions compared to physical distance between nodes. Thus, the proposed control law does not depend on any distance-based information. The performance of the algorithm is evaluated using computer simulations and experiments with a real mobile robot.