A probabilistic framework for entire WSN localization using a mobile robot

被引：47

作者：

Caballero, F. ^{[1
]}

Merino, L. ^{[2
]}

Gil, P. ^{[1
]}

Maza, I. ^{[1
]}

Ollero, A. ^{[1
]}

机构：

[1] Univ Seville, Seville 41092, Spain

[2] Pablo Olavide Univ, Seville 41013, Spain

来源：

ROBOTICS AND AUTONOMOUS SYSTEMS | 2008年 / 56卷 / 10期

关键词：

Wireless sensor network; Localization; Mobile robots; Particle filter; information filter;

D O I：

10.1016/j.robot.2008.06.003

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new method for the localization of a Wireless Sensor Network (WSN) by means of collaboration with a robot within a Network Robot System (NRS). The method employs the signal strength as input, and has two steps: an initial estimation of the position of the nodes is obtained centrally by one robot and is based on particle filtering. It does not require any prior information about the position of the nodes. In the second stage, the nodes refine their position estimates employing a decentralized information filter. The paper shows how the method is able to recover the 3D position of the nodes, and is very suitable for WSN outdoor applications. The paper includes several implementation aspects and experimental results. (C) 2008 Elsevier B.V. All rights reserved.

引用

页码：798 / 806

页数：9

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