• Journal of information and communication convergence engineering
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• v.10 no.4
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• pp.390-395
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• 2012

This paper describes an implementation of automatic mutual localization of swarm robots using a particle filter. Each robot determines the location of the other robots using wireless sensors. The measured data will be used for determination of the movement method of the robot itself. It also affects the other robots' self-arrangement into formations such as circles and lines. We discuss the problem of a circle formation enclosing a target that moves. This method is the solution for enclosing an invader in a circle formation based on mutual localization of the multi-robot without infrastructure. We use trilateration, which does require knowing the value of the coordinates of the reference points. Therefore, specifying the enclosure point based on the number of robots and their relative positions in the coordinate system. A particle filter is used to improve the accuracy of the robot's location. The particle filter is operates better for mutual location of robots than any other estimation algorithms. Through the experiments, we show that the proposed scheme is stable and works well in real environments.

• Journal of information and communication convergence engineering
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• v.12 no.1
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• pp.8-13
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• 2014

We consider the sensor selection problem in large sensor networks where the goal is to find the best set of sensors that maximizes application objectives. Since sensor selection typically involves a large number of sensors, a low complexity should be maintained for practical applications. We propose a geometry-based sensor selection algorithm that utilizes only the information of sensor locations. In particular, by observing that sensors clustered together tend to have redundant information, we theorize that the redundancy is inversely proportional to the distance between sensors and seek to minimize this redundancy by searching for a set of sensors with the maximum average distance. To further reduce the computational complexity, we perform an iterative sequential search without losing optimality. We apply the proposed algorithm to an acoustic sensor network for source localization, and demonstrate using simulations that the proposed algorithm yields significant improvements in the localization performance with respect to the randomly generated sets of sensors.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.795-800
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• 2008

The paper presents research for the established experiment environment of multi vehicle robot, localization algorithm that is based on vehicle control, and path tracking. The established experiment environment consists of ultrasonic positioning system, vehicle robot, server and wireless module. Ultrasonic positioning system measures positioning for using ultrasonic sensor and generates many errors because of the influence of environment such as a reflection of wall. For a solution of this fact, localization algorithm is proposed to determine a location using vehicle kinematics and selection of a reliable location data. And path tracking algorithm is proposed to apply localization algorithm and LOS, finally, that algorithms are verified via simulation and experimental

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.177-184
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• 2009

This paper presents an active assisted-living system in wireless sensor and actor network (WSAN) in which the mobile robot roles an actor. In order to provide assisted-living service to the elderly people, position recognition of the sensor node attached on the user and localization of the mobile robot should be performed at the same time. For the purpose, we use received signal strength indication (RSSI) to find the position of the person and ubiquitous sensor nodes including ultrasonic sensor which performs both transmission of sensor information and localization like global positioning system. Active services are moving to the elderly people by detecting activity sensor and visual tracking and voice chatting with remote monitoring system.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.952-959
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• 2016

This paper proposes a novel indoor positioning system (IPS) that uses a calibrated camera sensor network and dense 3D map information. The proposed IPS information is obtained by generating a bird's-eye image from multiple camera images; thus, our proposed IPS can provide accurate position information when objects (e.g., the mobile robot or pedestrians) are detected from multiple camera views. We evaluate the proposed IPS in a real environment with moving objects in a wireless camera sensor network. The results demonstrate that the proposed IPS can provide accurate position information for moving objects. This can improve the localization performance for mobile robot operation.

• Smart Structures and Systems
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• v.5 no.1
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• pp.43-54
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• 2009

This study introduces a novel approach for locating damage in a structure using wireless sensor system with local level computational capability to alleviate data traffic load on the centralized computation. Smart wireless sensor systems, capable of iterative damage-searching, mimic an optimization process in a decentralized way. The proposed algorithm tries to detect damage in a structure by monitoring abnormal increases in strain measurements from a group of wireless sensors. Initially, this clustering technique provides a reasonably effective sensor placement within a structure. Sensor clustering also assigns a certain number of master sensors in each cluster so that they can constantly monitor the structural health of a structure. By adopting a voting system, a group of wireless sensors iteratively forages for a damage location as they can be activated as needed. Since all of the damage searching process occurs within a small group of wireless sensors, no global control or data traffic to a central system is required. Numerical simulation demonstrates that the newly developed searching algorithm implemented on wireless sensors successfully localizes stiffness damage in a plate through the local level reconfigurable function of smart sensors.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1893-1894
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• 2008

Advances in hardware and wireless network technologies have placed us at the doorstep of a new era where small wireless devices will provide access to information anytime, anywhere as well as actively participate in creating smart environments. In this paper, we propose location-aware clustering method in wireless sensor networks. Previous clustering algorithm assumes that all nodes know its own location by GPS. But, it is unrealistic because of GPS module cost and large energy consumption. So, we operate localization ahead of cluster set-up phase. And Considering node density and geographic information, Cluster Heads are elected uniformly. Moreover, communication between CHs is prolonged network lifetime.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.10
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• pp.4940-4957
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• 2019

Compared with the localization methods in the static sensor networks, node localization in dynamic sensor networks is more complicated due to the mobility of the nodes. Dynamic Sampling Localization Algorithm Based on Virtual Anchor (DSLA) is proposed in this paper to localize the unknown nodes in dynamic sensor networks. Firstly, DSLA algorithm predicts the speed and movement direction of nodes to determine a sector sampling area. Secondly, a method of calculating the sampling quantity with the size of the sampling area dynamically changing is proposed in this paper. Lastly, the virtual anchor node, i.e., the unknown node that got the preliminary possible area (PLA), assists the other unknown nodes to reduce their PLAs. The last PLA is regarded as a filtering condition to filter out the conflicting sample points quickly. In this way, the filtered sample is close to its real coordinates. The simulation results show that the DSLA algorithm can greatly improve the positioning performance when ensuring the execution time is shorter and the localization coverage rate is higher. The localization error of the DSLA algorithm can be dropped to about 20%.

• Journal of Advanced Marine Engineering and Technology
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• v.37 no.1
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• pp.114-120
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• 2013

Recently, navigation systems based on wireless communication have been applied to the internal structures such as building or ship. If a stable azimuth information is obtained, these systems can effectively guide the direction of the user's progress through the information and then can improve the performance of guidance. Since conventional method which has acquired an azimuth information using geomagnetic and acceleration sensor(azimuth sensor hereafter) is sensitive to the effects of the magnetic field, it has unstable error range according to the surrounding environment. In order to improve these problems, this paper presents a new relative azimuth estimation algorithm using the displacement of a mobile node and its rotation angle based on Wireless communication. For the performance assessment of the proposed algorithm, experiments using rotating arm are performed and the results are confirmed that the proposed system can estimate the relative azimuth without using additional sensors.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.268-274
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• 2013

In this paper, the performance analysis of optics-based sensor node localization using ToF (Time of Flight) scheme is conducted. Generally, the position of the sensor node is calculated on the base station. And the base station scans neighboring sensor nodes with a laser. The laser which is reflected from one sensor node, however, can be reached to the base station at different angles according to the scanning resolution. This means that the error of the reached angle can increase and one node may be recognized as different nodes. Also the power of laser can decrease because the laser signal spread. Thus the sensor node which is located at a long distance from the base station cannot be detected. In order to overcome these problems which can be occurred in localization using ToF, the beam spot, the scanning resolution, the size of reflector and the power of laser at the sensor node were analyzed. It can be expected that the consequence of analysis can be provided in acquisition of accurate position of sensor node and construction of optics-based sensor node localization system.