Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)

The Korea Institute of Military Science and Technology (한국군사과학기술학회)
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Reference Node Selection Scheme for Estimating Relative Locations of Mobile Robots

이동 로봇의 상대위치 추정을 위한 기준노드 선택 기법

  • Ha, Taejin (School of Information and Communications, Gwangju Institute of Science and Technology) ;
  • Kim, Sunyong (School of Information and Communications, Gwangju Institute of Science and Technology) ;
  • Park, Sun Young (College, Gwangju Institute of Science and Technology) ;
  • Kwon, Daehoon (The 2nd Research and Development Institute, Agency for Defense Development) ;
  • Ham, Jaehyun (The 2nd Research and Development Institute, Agency for Defense Development) ;
  • Lim, Hyuk (School of Information and Communications, Gwangju Institute of Science and Technology)
  • 하태진 (광주과학기술원 정보통신공학부) ;
  • 김선용 (광주과학기술원 정보통신공학부) ;
  • 박선영 (광주과학기술원 기초교육학부) ;
  • 권대훈 (국방과학연구소 제2기술연구본부) ;
  • 함재현 (국방과학연구소 제2기술연구본부) ;
  • 임혁 (광주과학기술원 정보통신공학부)
  • Received : 2016.02.15
  • Accepted : 2016.07.22
  • Published : 2016.08.05
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Abstract

When GPS signals are not available, a relative localization can be alternatively used to represent the topological relationship between mobile nodes. A relative location map of a network can be constructed by using the distance information between all the pairs of nodes in the network. If a network is large, a number of small local maps are individually constructed and are merged to obtain the whole map. However, this approach may result in a high computation and communication overhead. In this paper, we propose a reference-node selection scheme for relative localization map construction, which chooses a subset of nodes as a reference node that is supposed to construct local maps. The scheme is a greedy algorithm that iteratively chooses nodes with high degree as a reference node until the chosen local maps are successfully merged with a sufficient number of common nodes between nearby local maps. The simulation results indicate that the proposed scheme achieves higher localization accuracy with a reduced computational overhead.

Keywords

References

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